PowerFlex ControlNet Adapters 20-COMM-C (Coax) Series A FRN 2.xxx, Series B FRN 3.xxx 20-COMM-Q (Fiber) Series A FRN 3.xxx

Transcription

1 PowerFlex ControlNet Adapters 20-COMM-C (Coax) Series A FRN 2.xxx, Series B FRN 3.xxx 20-COMM-Q (Fiber) Series A FRN 3.xxx User Manual

2 Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls (Publication SGI-1.1 available from your local Rockwell Automation sales office or online at describes some important differences between solid state equipment and hard-wired electromechanical devices. Because of this difference, and also because of the wide variety of uses for solid state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable. In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment. The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams. No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual. Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc. is prohibited. Throughout this manual, when necessary we use notes to make you aware of safety considerations.! WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss. Important: Identifies information that is critical for successful application and understanding of the product.! ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequences. Shock Hazard labels may be located on or inside the equipment (e.g., drive or motor) to alert people that dangerous voltage may be present. Burn Hazard labels may be located on or inside the equipment (e.g., drive or motor) to alert people that surfaces may be at dangerous temperatures. Allen-Bradley, Rockwell Software, Rockwell Automation, TechConnect, PowerFlex, SMC Flex, DPI, SCANport, Connected Components Workbench, DriveExplorer, DriveExecutive, DriveTools, ControlFLASH, RSLogix, RSNetWorx for ControlNet, ControlLogix, PLC-5, and SLC 500 are trademarks of Rockwell Automation, Inc. ControlNet is a trademark of ControlNet International, Ltd. Windows and Microsoft are registered trademarks of Microsoft Corporation.

3 Summary of Changes The information below summarizes the changes made to this manual since its last release (August 2007). Description of Changes Reformatted document from half size (5.5 x 8.5 in.) to full size (8.5 x 11 in.) Added information about the Connected Components Workbench software configuration tool for drives and connected peripherals. Added information for use with PowerFlex 750-Series drives. Added information for use with PowerFlex Digital DC drives. In the Chapter 1 User-Supplied Equipment section, added the Connected Components Workbench software tool and related information. Also revised information for DriveExplorer and DriveExecutive software tools. Revised Figures 2.2 and 2.3 to show PowerFlex 700H/S Frames 9 and larger. Added ground tab details in Figure 2.3. In Chapter 4, added new Using RSLinx Classic section. 4-1 Added titles to the controller I/O image tables (Table 5.A through Table 5.I) for easier referral. Added footnotes to explicit messaging screen configuration tables for all controller type examples to clarify required settings for the Size in Words/Elements/Bytes fields when reading/writing to 16-bit and 32-bit parameters. The 20-COMM-C and 20-COMM-Q adapter firmware revision added support for use with PowerFlex 750-Series drives (revised DPI Parameter Object, Class Code 0x93, to include Ports 7 through 14). Page Throughout manual and to 5-8 Throughout Chapter 6 Throughout Appendix C

4 soc-ii Summary of Changes Notes:

5 Table of Contents Preface Chapter 1 Chapter 2 Chapter 3 Chapter 4 About This Manual Conventions Used in This Manual P-1 Rockwell Automation Support P-2 Additional Resources P-2 Getting Started Components Features Compatible Products Required Equipment Safety Precautions Quick Start Installing the Adapter Preparing for an Installation Setting the Node Address Switches Connecting the Adapter to the Drive Connecting the Adapter to the Network Applying Power Commissioning the Adapter Configuring the Adapter Configuration Tools Using the PowerFlex 7-Class HIM to Access Parameters Setting the Node Address Setting the I/O Configuration Setting Master-Slave Hierarchy Setting the Reference Adjustment Setting a Fault Action Resetting the Adapter Viewing the Adapter Status Using Parameters Updating the Adapter Firmware Configuring the I/O Using RSLinx Classic Software ControlLogix Controller Example PLC-5 Controller Example SLC 500 Controller Example

6 ii Table of Contents Chapter 5 Chapter 6 Chapter 7 Chapter 8 Appendix A Appendix B Using the I/O About I/O Messaging Understanding the I/O Image Using Logic Command/Status Using Reference/Feedback Using Datalinks Example Ladder Logic Program Information ControlLogix Controller Example PLC-5 Controller Example SLC 500 Controller Example Using Explicit Messaging About Explicit Messaging Performing Explicit Messages ControlLogix Controller Examples PLC-5 Controller Examples SLC 500 Controller Examples Troubleshooting Understanding the Status Indicators PORT Status Indicator MOD Status Indicator NET A and NET B Status Indicators Viewing Adapter Diagnostic Items Viewing and Clearing Events Using the Adapter in a DPI External Comms Kit (20-XCOMM-DC-BASE) Installing the Adapter I/O Board Option (20-XCOMM-IO-OPT1) Understanding the I/O Image (Drive + I/O Option) Configuring the Adapter to Use the Optional I/O Data Viewing Optional I/O Diagnostic Items Specifications Communications A-1 Electrical A-1 Mechanical A-1 Environmental A-2 Regulatory Compliance A-2 Adapter Parameters Parameter List B-1

7 Table of Contents iii Appendix C Appendix D ControlNet Objects Identity Object C-2 Assembly Object C-3 Register Object C-4 Parameter Object C-5 Parameter Group Object C-7 PCCC Object C-8 DPI Device Object C-13 DPI Parameter Object C-16 DPI Fault Object C-22 DPI Alarm Object C-24 DPI Diagnostic Object C-26 DPI Time Object C-28 Host DPI Parameter Object C-30 Logic Command/Status Words PowerFlex 70/700/700H, and 700L (with 700 Control) Drives D-1 PowerFlex 700S (Phase II Control) and 700L (with 700S Control) Drives D-3 PowerFlex 750-Series Drives D-5 PowerFlex Digital DC Drives D-7 Glossary Index

8 iv Table of Contents Notes:

9 Preface About This Manual Topic Page Conventions Used in This Manual P-1 Rockwell Automation Support P-2 Additional Resources P-2 This manual provides information about the adapter and using it with PowerFlex 7-Class (Architecture-Class) drives. The adapter can be used with other products that support a DPI adapter, such as the DPI External Comms Kit (20-XCOMM-DC-BASE). See the documentation for your product for specific information about how it works with the adapter. Conventions Used in This Manual The following conventions are used throughout this manual: Parameter names are shown in the format Parameter xx - [*]. The xx represents the parameter number. The * represents the parameter name for example Parameter 01 - [DPI Port]. Menu commands are shown in bold type face and follow the format Menu > Command. For example, if you read Select File > Open, you should click the File menu and then click the Open command. The firmware revision number (FRN) is displayed as FRN X.xxx, where X is the major revision number and xxx is the minor revision number. The screen images in this manual resulted from using the following software: RSLinx Classic software, version 2.59 RSNetWorx for ControlNet software, version RSLogix 5 software, version 7.20 RSLogix 500 software, version 7.20 RSLogix 5000 software, version Different versions of the software may have screens that vary in appearance, and differences in procedures.

10 P-2 About This Manual Rockwell Automation Support Rockwell Automation offers support services worldwide, with over 75 sales and support offices, over 500 authorized distributors, and over 250 authorized systems integrators located through the United States alone. In addition, Rockwell Automation representatives are in every major country in the world. Local Product Support Contact your local Rockwell Automation, Inc. representative for: Sales and order support Product technical training Warranty support Support service agreements Technical Product Assistance For technical assistance, please review the information in Chapter 7, Troubleshooting, first. If you still have problems, then access the Allen-Bradley Technical Support website at or contact Rockwell Automation. Additional Resources These documents contain additional information concerning related products from Rockwell Automation. Resource PowerFlex 7-Class DPI (Drive Peripheral Interface) Network Communication Adapter Installation Instructions, publication 20COMM-IN004 ControlNet Coax Media Planning and Installation Guide, publication CNET-IN002 ControlNet Fiber Media Planning and Installation Guide, publication CNET-IN001 Connected Components Workbench website software.html, and online help (1) DriveExplorer website and online help (1) DriveExecutive website and online help (1) PowerFlex 20-HIM-A3/-A5/-C3S/-C5S HIM Quick Reference, publication 20HIM-QR001 PowerFlex 20-HIM-A6/C6S HIM (Human Interface Module) User Manual, publication 20HIM-UM001 PowerFlex 70 User Manual, publication 20A-UM001 PowerFlex 70/700 Reference Manual, publication PFLEX-RM001 PowerFlex 70 Enhanced Control and 700 Vector Control Reference Manual, publication PFLEX-RM004 PowerFlex 700 Series A User Manual, publication 20B-UM001 PowerFlex 700 Series B User Manual, publication 20B-UM002 PowerFlex 70/700 Reference Manual, publication PFLEX-RM001 PowerFlex 70 Enhanced Control and 700 Vector Control Reference Manual, publication PFLEX-RM004 PowerFlex 700H Installation Instructions, publication PFLEX-IN006 PowerFlex 700H Programming Manual, publication 20C-PM001 Description Information on installing PowerFlex 20-COMM-x Network Communication Adapters. Information on the required components of a ControlNet coax media system, determining your system, and installing the required components. Basic information for fiber cable planning and installation. Information on the Connected Components Workbench software tool and includes a link for free software download. Information on using the DriveExplorer software tool. Information on using the DriveExecutive software tool. Information on using PowerFlex 20-HIM-A3, 20-HIM-A5, 20-HIM-C3S, and 20-HIM-C5S HIMs. Information on installing and using PowerFlex 20-HIM-A6 and 20-HIM-C6S HIMs. Information on installing and programming PowerFlex 70 standard control and enhanced control drives. Information on installing and programming PowerFlex 700 standard control and vector control Series A drives, and PowerFlex 700 vector control Series B drives. Information on installing and programming PowerFlex 700H drives.

11 About This Manual P-3 Resource PowerFlex 700S w/phase I Control Installation Manual (Frames 1 6), publication 20D-IN024 PowerFlex 700S w/phase I Control Installation Manual (Frames 9 and 10), publication PFLEX-IN006 PowerFlex 700S w/phase I Control User Manual (All Frame Sizes), publication 20D-UM001 PowerFlex 700S w/phase I Control Reference Manual, publication PFLEX-RM002 PowerFlex 700S w/phase II Control Installation Manual (Frames 1 6), publication 20D-IN024 PowerFlex 700S w/phase II Control Installation Manual (Frames 9 14), publication PFLEX-IN006 PowerFlex 700S w/phase II Control Programming Manual (All Frame Sizes), publication 20D-PM001 PowerFlex 700S w/phase II Control Reference Manual, publication PFLEX-RM003 PowerFlex 700L User Manual, publication 20L-UM001 PowerFlex 750-Series Drive Installation Instructions, publication 750-IN001 PowerFlex 750-Series Drive Programming Manual, publication 750-PM001 PowerFlex CNETC Coaxial ControlNet Option Module, publication 750COM-UM COMM and COMM-F1 Communication Carrier Cards Installation Instructions, publication 750COM-IN001 PowerFlex Digital DC Drive User Manual, publication 20P-UM001 Getting Results with RSLinx Guide, publication LINX-GR001, and online help (1) RSLogix Emulate 5/500 Getting Results Guide, publication EMULAT-GR002, and online help (1) RSLogix 500 Getting Results Guide, publication LG500-GR002, and online help (1) RSLogix 5000 PIDE Autotuner Getting Results Guide, publication PIDE-GR001, and online help (1) RSNetWorx for ControlNet Getting Results Guide, publication CNET-GR001, and online help (1) ControlNet Network Configuration User Manual, publication CNET-UM001 ControlNet PLC-5 Programmable Controllers User Manual, publication 1785-UM022 SLC 500 Modular Hardware Style User Manual, publication 1747-UM011 Description Information on installing and programming PowerFlex 700S drives. Information on installing and programming PowerFlex 700L Liquid-Cooled AC drives. Information on installing and programming PowerFlex 750-Series AC drives. Information on installing and programming PowerFlex Digital DC drives. Information on using RSLinx Classic software. Information on installing and navigating the RSLogix Emulate software for ladder logic programming with Allen-Bradley PLC-5 and SLC 500 processors. Information on using the RSLogix 500 software tool. Information on using the RSLogix 5000 software tool. Information on installing and navigating the RSNetWorx for ControlNet software, effectively using it, and accessing and navigating the online help. Information on using ControlNet communication modules with the Logix 5000 controller. Information on installing 1785-L20C15, 1785-L40C15, 1785-L46C15, and 1785-L80C15 programmable controllers, and configuring and using their features. Information on installing the controller, and an overview of the SLC 500 programmable controller system. (1) The online help is installed with the software. Documentation can be obtained online at literature.rockwellautomation.com. To order paper copies of technical documentation, contact your local Rockwell Automation distributor or sales representative. To find your local Rockwell Automation distributor or sales representative, visit For information such as firmware updates or answers to drive-related questions, go to the Drives Service & Support website at and click on the Downloads or Knowledgebase link.

12 P-4 About This Manual Notes:

13 Chapter 1 Getting Started The adapter is intended for installation into a PowerFlex 7-Class drive and is used for network communication. The 20-COMM-C Series B coax adapter, firmware 2.xxx or later, or 20-COMM-Q Series A fiber adapter, firmware 2.xxx or later, can also be installed in an External DPI Comms Kit (20-XCOMM-DC-BASE). For PowerFlex 750-Series drives, we recommend using the CNETC Coaxial ControlNet option module instead of the 20-COMM-C adapter. However, this manual does include information on using the 20-COMM-C or 20-COMM-Q adapter with PowerFlex 750-Series drives but there are operating limitations. For details, see Compatible Products on page 1-3. Topic Page Components 1-1 Features 1-2 Compatible Products 1-3 Required Equipment 1-3 Safety Precautions 1-5 Quick Start 1-6 Components ➊ 20-COMM-C Coax Adapter ➊ 20-COMM-Q Fiber Adapter ➋ ➋ ➌ ➍ ➎ ➌ ➍ ➎ Item Part Description ➊ Status Indicators Four status indicators that indicate the status of the DPI, the adapter, and network connection. See Chapter 7, Troubleshooting. ➋ DPI Connector A 20-pin, single-row shrouded male header. An Internal Interface cable is connected to this connector and a connector on the drive. ➌ 20-COMM-C: Channel A Coax Receptacle Channel A BNC connection to the network. 20-COMM-Q: Channel A Fiber Receptacles Channel A V-pin connection to the network. ➍ 20-COMM-C: Channel B Coax Receptacle Channel B (redundant) BNC connection to the network. 20-COMM-Q: Channel B Fiber Receptacles Channel B (redundant) V-pin connection to the network. ➎ Node Address Switches Switches to set the node address. See Setting the Node Address Switches on page 2-2.

14 1-2 Getting Started Features The features of the adapter include the following: Typical mounting in a PowerFlex 7-Class drive. The 20-COMM-C Series B coax adapter, firmware 2.xxx or later, or 20-COMM-Q Series A fiber adapter, firmware 2.xxx or later, can also be installed in a DPI External Comms Kit and used with the kit s optional I/O board. See Chapter 8, Using the Adapter in a DPI External Comms Kit (20-XCOMM-DC-BASE) for more information. DPI External Comms Kit Compatibility Adapter Type 20-COMM-C (coaxial) 20-COMM-Q (fiber) Series Firmware Revision DPI External Comms Kit (20-XCOMM-DC-BASE) Operation With Optional I/O Board (20-XCOMM-IO-OPT1) A 1.xxx No No 2.xxx Yes No B 1.xxx No No 2.xxx and later Yes Yes A 1.xxx No No 2.xxx and later Yes Yes Captive screws to secure and ground the adapter to the drive or, when mounted in a DPI External Comms Kit, to the kit s metal enclosure. Compatibility with various configuration tools to configure the adapter and connected host drive, including the following tools: PowerFlex HIM (Human Interface Module) on the drive, if available Connected Components Workbench software, version 1.02 or later DriveExplorer software, version 2.01 or later DriveExecutive software, version 3.01 or later Switches to set a node address before applying power to the PowerFlex drive, or you can disable the switches and use an adapter parameter to configure the node address. Status indicators that report the status of the drive communications, the adapter, and network. They are visible when the drive cover is open or closed. Parameter-configured I/O (Logic Command/Reference and up to four pairs of Datalinks) to accommodate application requirements. Explicit Messaging support. Master-Slave hierarchy that can be configured to transmit data to and from a controller on the network. User-defined fault actions to determine how the adapter and connected PowerFlex drive respond to the following: I/O messaging communication disruptions (Comm Flt Action) Controllers in idle mode (Idle Flt Action) Access to any PowerFlex drive and its connected peripherals on the network to which the adapter is connected.

15 Getting Started 1-3 Compatible Products At the time of publication, the adapter is compatible with the following products: PowerFlex 70 drives with standard or enhanced control PowerFlex 750-Series drives (1) PowerFlex 700 drives with standard or vector control PowerFlex 700H drives PowerFlex 700S drives with Phase I or Phase II control PowerFlex 700L drives with 700 vector control or 700S control PowerFlex Digital DC drives DPI External Comms Kit SMC Flex smart motor controllers SMC-50 smart motor controllers (1) The 20-COMM-C or 20-COMM-Q adapter can be used with PowerFlex 750-Series drives, but the adapter must have firmware revision or later. Also, the adapter has the following limitations and differences: - Only the first 16 bits of the Logic Command and Logic Status words are used. - Speed Reference and Feedback scaling are Hz (or RPM) x 1000 (depending on the setting of drive parameter [Speed Units]. Instead of using the 20-COMM-C adapter with the PowerFlex 750-Series drive, the CNETC Coaxial ControlNet option module should be used whenever possible. Please see the PowerFlex 750-Series AC Drives Programming Manual, publication 750-PM001, for drive parameter information and the CNETC ControlNet Option Module User Manual, publication 750COM-UM003, for network communication module information. Required Equipment Some of the equipment that is required for use with the adapter is shipped with the adapter, but some you must supply yourself. Equipment Shipped with the Adapter When you unpack the adapter, verify that the package includes the following: One 20-COMM-C coax or 20-COMM-Q fiber adapter One 2.54 cm (1 in.) long and one cm (6 in.) long Internal Interface cable (only one cable is needed to connect the adapter to the drive; for which cable to use, see Figure 2.2 on page 2-4) One PowerFlex 7-Class DPI (Drive Peripheral Interface) Network Communication Adapter Installation Instructions, publication 20COMM-IN004 TIP: When mounting the 20-COMM-C or 20-COMM-Q adapter in a PowerFlex 750-Series drive, you must use a COMM or COMM-F1 Communication Carrier Card, publication 750COM-IN001 and the 20-COMM-C or 20-COMM-Q adapter must have firmware revision or later. User-Supplied Equipment To install and configure the adapter, you must supply the following: A small flathead screwdriver ControlNet cable (for details, see to the ControlNet Coax Media Planning and Installation Guide, publication CNET-IN002, or the ControlNet Fiber Media Planning and Installation Guide, publication CNET-IN001)

16 1-4 Getting Started Drive and adapter configuration tool, such as the following: PowerFlex 20-HIM-xx HIM RSNetWorx for ControlNet software, version 6.00 or later Connected Components Workbench software, version 1.02 or later Connected Components Workbench is the recommended stand-alone software tool for use with PowerFlex drives. You can obtain a free copy by: Internet download at webupdate/software.html Requesting a DVD at micro800/ Your local distributor may also have copies of the DVD available. Connected Components Workbench software cannot be used to configure SCANport-based drives or Bulletin 160 drives. DriveExplorer software, version 2.01 or later This software tool has been discontinued and is now available as freeware at software.html. There are no plans to provide future updates to this tool and the download is being provided as-is for users that lost their DriveExplorer CD, or need to configure legacy products not supported by Connected Components Workbench software. DriveExecutive software, version 3.01 or later A Lite version of DriveExecutive software ships with RSLogix 5000, RSNetWorx MD, FactoryTalk AssetCentre, and ItelliCENTER software. All other versions are purchasable items: DTE01ENE Drive Executive software DTS01ENE DriveTools SP Suite (includes DriveExecutive and DriveObserver software) DTE2S01ENE DriveExecutive software upgrade to DriveTools SP Suite (adds DriveObserver software) DriveExecutive software updates (patches, and so forth) can be obtained at software.html. It is highly recommended that you periodically check for and install the latest update. Controller configuration tool, such as RSLogix 5, RSLogix 500, or RSLogix 5000 software A computer connection to the ControlNet network via a communication card, such as 1784-PCC, 1784-KTCX, or 1770-KFC

17 Getting Started 1-5 Safety Precautions Please read the following safety precautions carefully.!!!!!!! ATTENTION: Risk of injury or death exists. The PowerFlex drive may contain high voltages that can cause injury or death. Remove all power from the PowerFlex drive, and then verify power has been discharged before installing or removing an adapter. ATTENTION: Risk of injury or equipment damage exists. Only personnel familiar with drive and power products and the associated machinery should plan or implement the installation, start up, configuration, and subsequent maintenance of the product using an adapter. Failure to comply may result in injury and/or equipment damage. ATTENTION: Risk of equipment damage exists. The adapter contains electrostatic discharge (ESD) sensitive parts that can be damaged if you do not follow ESD control procedures. Static control precautions are required when handling the adapter. If you are unfamiliar with static control procedures, see Guarding Against Electrostatic Damage, publication ATTENTION: Risk of injury or equipment damage exists. If the adapter is transmitting control I/O to the drive, the drive may fault when you reset the adapter. Determine how your drive will respond before resetting an adapter. ATTENTION: Risk of injury or equipment damage exists. Parameters 10 - [Comm Flt Action] and 11 - [Idle Flt Action] let you determine the action of the adapter and connected drive if communication is disrupted or the controller is idle. By default, these parameters fault the drive. You can set these parameters so that the drive continues to run, however, precautions should be taken to verify that the settings of these parameters do not create a risk of injury or equipment damage. When commissioning the drive, verify that your system responds correctly to various situations (for example, a disconnected cable or a controller in idle state). ATTENTION: Risk of injury or equipment damage exists. When a system is configured for the first time, there may be unintended or incorrect machine motion. Disconnect the motor from the machine or process during initial system testing. ATTENTION: Risk of injury or equipment damage exists. The examples in this publication are intended solely for purposes of example. There are many variables and requirements with any application. Rockwell Automation does not assume responsibility or liability (to include intellectual property liability) for actual use of the examples shown in this publication.

18 1-6 Getting Started Quick Start This section is provided to help experienced users quickly start using the adapter. If you are unsure how to complete a step, refer to the referenced chapter. Step Action See 1 Review the safety precautions for the adapter. Throughout this manual 2 Verify that the PowerFlex drive is properly installed. Drive User Manual 3 Install the adapter. PowerFlex 7-Class DPI a. Verify that the PowerFlex drive is not powered. Network Communication Adapter Installation Instructions, publication 20COMM-IN004, and b. Connect the adapter to the drive with the Internal Interface cable. c. Use the captive screws to secure and ground the adapter to the drive. d. Connect the adapter to the network with a ControlNet cable. NOTE: When installing the adapter in either of the following products, see the listed publication for instructions: DPI External Comms Kit see the 20-XCOMM-DC-BASE Installation Instructions, publication 20COMM-IN001, supplied with the kit. PowerFlex 750-Series drive see the COMM and COMM-F1 Communication Carrier Cards Installation Instructions, publication 750COM-IN001, supplied with the card. 4 Apply power to the adapter. a. Verify that the adapter is installed correctly. The adapter receives power from the drive. b. Apply power to the drive. The status indicators should be green. If they flash red, there is a problem. See Chapter 7, Troubleshooting. c. Configure and verify key drive parameters. 5 Configure the adapter for your application. Set adapter parameters for the following functions as required by your application: Node address I/O configuration Master-Slave hierarchy Fault actions 6 Configure the controller to communicate with the adapter. Use configuration tools, such as RSNetWorx for ControlNet software and RSLogix software, to configure the master on the network to recognize the adapter and drive. 7 Create a ladder logic program. Use a controller configuration tool, such as RSLogix software, to create a ladder logic program that enables you to do the following: Control the connected drive, via the adapter, by using I/O. Monitor or configure the drive using explicit messages. Chapter 2, Installing the Adapter Chapter 2, Installing the Adapter Chapter 3, Configuring the Adapter Chapter 4, Configuring the I/O Chapter 5, Using the I/O Chapter 6, Using Explicit Messaging

19 Chapter 2 Installing the Adapter This chapter provides instructions for installing the adapter in a PowerFlex 7-Class drive. The 20-COMM-C Series B coax adapter, firmware revision 2.xxx or later, or 20-COMM-Q Series A fiber adapter, firmware revision 2.xxx or later, can also be installed in a DPI External Comms Kit. In this case, see Chapter 8 or the 20-XCOMM-DC-BASE Installation Instructions, publication 20COMM-IN001, supplied with the kit. Topic Page Preparing for an Installation 2-1 Setting the Node Address Switches 2-2 Connecting the Adapter to the Drive 2-3 Connecting the Adapter to the Network 2-6 Applying Power 2-7 Commissioning the Adapter 2-9 Preparing for an Installation Before installing the adapter, do the following: Read the ControlNet Coax Media Planning and Installation Guide, publication CNET-IN002, or the ControlNet Fiber Media Planning and Installation Guide, publication CNET-IN001. These publications provide information on network basics, selecting cables, and setting up a network. Verify that you have all required equipment. See Required Equipment on page 1-3.! ATTENTION: Risk of equipment damage exists. The adapter contains electrostatic discharge (ESD) sensitive parts that can be damaged if you do not follow ESD control procedures. Static control precautions are required when handling the adapter. If you are unfamiliar with static control procedures, see Guarding Against Electrostatic Damage, publication

20 2-2 Installing the Adapter Setting the Node Address Switches Set the adapter Node Address switches (Figure 2.1) by rotating the switches to the desired value for each digit. Important: Each node on the ControlNet network must have a unique address. Set the node address before power is applied because the adapter uses the node address it detects when it first receives power. To change a node address, you must set the new value and then remove and reapply power to (or reset) the adapter. Figure 2.1 Setting Adapter Node Address Switches S2 (Tens Digit) S3 (Ones Digit) COMM-C coax adapter shown Setting Description 00 If the Node Address switches are set to 00 (Program), the adapter uses the value stored in Parameter 03 - [CN Addr Cfg] for the node address. See Setting the Node Address on page Node address used by the adapter. The default switch setting is 02. The Node Address switch settings can be verified by viewing Parameter 04 - [CN Addr Act] or Diagnostic Device Item number 27 (page 7-5) with any of the following drive configuration tools: PowerFlex HIM Connected Components Workbench software, version 1.02 or later DriveExplorer software, version 2.01 or later DriveExecutive software, version 3.01 or later

21 Installing the Adapter 2-3 Connecting the Adapter to the Drive! ATTENTION: Risk of injury or death exists. The PowerFlex drive may contain high voltages that can cause injury or death. Remove power from the drive, and then verify power has been discharged before installing or removing the adapter. 1. Remove power from the drive. 2. Use static control precautions. 3. Remove the drive cover or open the drive door. 4. Connect the Internal Interface cable to the DPI port on the drive and then to the DPI connector on the adapter (see Figure 2.2). 5. Secure and ground the adapter to the drive (see Figure 2.3) by doing the following: On a PowerFlex 70 drive, fold the Internal Interface cable behind the adapter and mount the adapter on the drive using the four captive screws. On a PowerFlex 700, PowerFlex 700H or PowerFlex 700S drive, mount the adapter on the drive using the four captive screws. Important: Tighten all screws to properly ground the adapter. Recommended torque is 0.9 N m (8.0 lb in).

22 2-4 Installing the Adapter Figure 2.2 DPI Ports and Internal Interface Cables ➋ 20-COMM-C (coaxial) Adapter shown ➊ ➌ PowerFlex 70 - All Frames ➍ PowerFlex 700 Frames 0 and 1 PowerFlex 700S Frames 0 and 1 PowerFlex 700 Frames 2 and Larger PowerFlex 700S Frames 2 through 6 HIM panel opens to allow access to DPI interface. To open panel, remove screws on left side of HIM panel and swing open. X2 X1 PowerFlex 700H Frames 9 and Larger PowerFlex 700S Frames 9 and Larger ➍ Item ➊ ➋ ➌ ➍ Description cm (6 in.) Internal Interface cable DPI Connector ControlNet cable(s) 2.54 cm (1 in.) Internal Interface cable

23 Installing the Adapter 2-5 Figure 2.3 Mounting and Grounding the Adapter 0.9 N m (8.0 lb in) 4 Places Drive Adapter Internal Interface Cable folded behind the adapter and in front of the drive. PowerFlex 70 - All Frame Sizes (Adapter mounts in drive.) Ground Tab Detail 0.9 N m (8.0 lb in) 4 Places Verify metal ground tab is bent 90 and is under the adapter before tightening screw. After tightening the screw, verify continuity exists between the head of the screw and drive ground. PowerFlex 700 Frames 0 and 1 PowerFlex 700S Frames 0 and 1 (Adapter mounts on door.) PowerFlex 700 Frames 2 and Larger PowerFlex 700S Frames 2 through 6 (Adapter mounts in drive.) Ground Tab Detail X2 0.9 N m (8.0 lb in) 4 Places X1 PowerFlex 700H Frames 9 and Larger PowerFlex 700S Frames 9 and Larger (Adapter mounts behind HIM panel.) Verify metal ground tab is bent 90 and is under the adapter before tightening screw. After tightening the screw, verify continuity exists between the head of the screw and drive ground. NOTE: When installing the adapter in a PowerFlex 750-Series drive, see the COMM and COMM-F1 Communication Carrier Cards Installation Instructions, publication 750COM-IN001, supplied with the card.

24 2-6 Installing the Adapter Connecting the Adapter to the Network! ATTENTION: Risk of injury or death exists. The PowerFlex drive may contain high voltages that can cause injury or death. Remove power from the drive, and then verify power has been discharged before installing or removing the adapter. 1. Remove power from the drive. 2. Use static control precautions. 3. Connect one end of a ControlNet cable to the network. See Figure 2.4 or Figure 2.5 for an example of wiring to a ControlNet network. Figure 2.4 Coax Network Wiring Example Controller (ControlLogix with 1756-CNBR Bridge shown) PowerFlex 7-Class Drives (each with a 20-COMM-C Adapter) Channel A (optional redundancy) Channel B Figure 2.5 Fiber Network Wiring Example Controller (ControlLogix with 1756-CNBR Bridge shown) 1786-RPA 1786-RPFS... PowerFlex 7-Class Drives (each with 20-COMM-Q Adapter) Star topology shown NOTE: The 20-COMM-Q is designed for use with short distance 1786-RPFS repeaters, which use the V-pin type connector. 4. Route the other end of the ControlNet cable through the bottom of the drive (Figure 2.3), and insert its ControlNet cable plug into the mating adapter receptacle. A 1786-TPS (straight tap) is recommended for connection to the 20-COMM-C (coax) adapter. For information about network system design and component installation, see the following publications: ControlNet Coax Media Planning and Installation Guide, publication CNET-IN002 ControlNet Fiber Media Planning and Installation Guide, publication CNET-IN001

25 Installing the Adapter 2-7 Applying Power! ATTENTION: Risk of equipment damage, injury, or death exists. Unpredictable operation may occur if you fail to verify that parameter settings are compatible with your application. Verify that settings are compatible with your application before applying power to the drive. Install the drive cover or close the drive door, and apply power to the drive. The adapter receives its power from the connected drive. When you apply power to the adapter for the first time, its topmost PORT status indicator should be steady green or flashing green after an initialization. If it is red, there is a problem. See Chapter 7, Troubleshooting. Start-Up Status Indications Status indicators for the drive and communication adapter can be viewed on the front of the drive (Figure 2.6) after power has been applied. Possible start-up status indications are shown in Table 2.A. Figure 2.6 Drive and Adapter Status Indicators (location on drive may vary) PORT ➋ MOD NET A NET B ➊ STS

26 2-8 Installing the Adapter Table 2.A Drive and Adapter Start-Up Status Indicators Item Name Color State Description Drive STS Indicator ➊ STS Green Flashing Drive ready but not running, and no faults are present. (Status) Steady Drive running, no faults are present. Yellow Flashing, An inhibit condition exists the drive cannot be drive stopped started. Check drive Parameter [Start Inhibits]. Flashing, drive running Steady, drive running An intermittent type 1 alarm condition is occurring. Check drive Parameter [Drive Alarm 1]. A continuous type 1 alarm condition exists. Check drive Parameter [Drive Alarm 1]. Red Flashing A fault has occurred. Steady A non-resettable fault has occurred. Adapter Status Indicators ➋ PORT Green Flashing Normal operation. The adapter is establishing an I/O connection to the drive. It will turn steady green or red. Steady Normal operation. The adapter is properly connected and communicating with the drive. MOD Green Flashing Normal operation. The adapter is operating but is not transferring I/O data to a controller. Steady Normal operation. The adapter is operating and transferring I/O data to a controller. NET A NET B Green Flashing A temporary channel error has occurred or the channel is in listen-only mode. Steady Normal operation for that channel. The adapter is properly connected and communicating on the network. Red Flashing The channel is not receiving network activity. Green/ Red Flashing alternately There is an invalid link configuration for that channel. For more details on status indicator operation, see page 7-2 and page 7-3. Configuring and Verifying Key Drive Parameters The PowerFlex 7-Class drive can be separately configured for the control and Reference functions in various combinations. For example, you could set the drive to have its control come from a peripheral or terminal block with the Reference coming from the network. Or you could set the drive to have its control come from the network with the Reference coming from another peripheral or terminal block. Or you could set the drive to have both its control and Reference come from the network. The following steps in this section assume that the drive will receive the Logic Command and Reference from the network. 1. Use drive Parameter [Speed Ref A Sel] to set the drive speed Reference to 22 (DPI Port 5).

27 Installing the Adapter If hard-wired discrete digital inputs are not used to control the drive, verify that unused digital input drive Parameters [Dig In1 Sel] and [Dig In2 Sel] are set to 0 (Not Used). 3. Verify that drive Parameter [Speed Ref Source] is reporting that the source of the Reference to the drive is 22 (DPI Port 5). This ensures that any Reference commanded from the network can be monitored by using drive Parameter [Commanded Speed]. If a problem occurs, this verification step provides the diagnostic capability to determine whether the drive/adapter or the network is the cause. TIP: For PowerFlex 750-Series drives, use drive Parameter [Speed Ref A Sel] to set the drive speed Reference: a. Set the Port field to Port 0 - PowerFlex 75x. b. Set the Parameter field to point to the port (slot) in which the 20-COMM-C adapter/ comm Communication Carrier Card are installed (for example, Port 6 Reference ). The number 876 in the Parameter field of the example is the parameter in the drive that points to the port. Commissioning the Adapter To commission the adapter, you must set a unique node address on the network. See Setting the Node Address on page 3-3 for details. Important: New settings for some adapter parameters are recognized only when power is applied to the adapter or it is reset. After you change parameter settings, cycle power or reset the adapter.

28 2-10 Installing the Adapter Notes:

29 Chapter 3 Configuring the Adapter This chapter provides instructions and information for setting the parameters in the adapter. Topic Page Configuration Tools 3-1 Using the PowerFlex 7-Class HIM to Access Parameters 3-2 Setting the Node Address 3-3 Setting the I/O Configuration 3-3 Setting Master-Slave Hierarchy 3-4 Setting the Reference Adjustment 3-5 Setting a Fault Action 3-5 Resetting the Adapter 3-7 Viewing the Adapter Status Using Parameters 3-7 Updating the Adapter Firmware 3-8 For a list of parameters, see Appendix B, Adapter Parameters. For definitions of terms in this chapter, see the Glossary. Configuration Tools The adapter stores parameters and other information in its own nonvolatile storage (NVS) memory. You must, therefore, access the adapter to view and edit its parameters. The following tools can be used to access the adapter parameters. Tool See PowerFlex 7-Class HIM page 3-2 Connected Components Workbench software, version 1.02 or later DriveExplorer software, version 2.01 or later DriveExecutive software, version 3.01 or later software.html, or online help (installed with the software) or online help (installed with the software) or online help (installed with the software)

30 3-2 Configuring the Adapter Using the PowerFlex 7-Class HIM to Access Parameters If your drive has either an LED or LCD HIM (Human Interface Module), it can be used to access parameters in the adapter as shown below. We recommend that you read through the steps for your HIM before performing the sequence. For additional information, see the drive documentation or the PowerFlex 7-Class HIM Quick Reference, publication 20HIM-QR001. Using an LED HIM Step 1. Press the ALT key and then the Device Sel (Sel) key to display the Device Screen. 2. Press the or key to scroll to the adapter. Letters represent files in the drive, and numbers represent ports. The adapter is usually connected to port Press the (Enter) key to enter your selection. A parameter database is constructed, and then the first parameter is displayed. 4. Edit the parameters using the same techniques that you use to edit drive parameters. Example Screens Using an LCD HIM Step 1. In the main menu, press the or key to scroll to Device Select. 2. Press the (Enter) key to enter your selection. 3. Press the or key to scroll to the adapter (20-COMM-C or 20-COMM-Q). 4. Press the (Enter) key to select the adapter. A parameter database is constructed, and then the main menu for the adapter is displayed. 5. Edit the parameters using the same techniques that you use to edit drive parameters. Example Screens F-> Stopped Auto 0.00 Hz Main Menu: Diagnostics Parameter Device Select Port 5 Device 20-COMM-C Main Menu: Diagnostics Parameter Device Select NOTE: All configuration procedures throughout this chapter use the PowerFlex 7-Class LCD HIM to access parameters in the adapter and show example LCD HIM screens. TIP: When using a PowerFlex 20-HIM-A6 or 20-HIM-C6S HIM, see its User Manual, publication 20-HIM-UM001.

31 Configuring the Adapter 3-3 Setting the Node Address If the adapter Node Address switches (Figure 2.1) are set to 00 (Program) the value of Parameter 03 - [CN Addr Cfg] determines the node address. When in any other combination of positions, the Node Address switches determine the node address. 1. Set the value of Parameter 03 - [CN Addr Cfg] to a unique node address. Port 5 Device 20-COMM-C Parameter #: 03 CN Addr Cfg 2 0 <> 63 Default = Reset the adapter (see Resetting the Adapter on page 3-7). When the node address is correctly configured and the adapter is connected to an operational network, the NET A status indicator should be steady green or flashing green. Setting the I/O Configuration The I/O configuration determines the data that is sent to and from the drive. Logic Command/Status, Reference/Feedback, and Datalinks may be enabled or disabled. (Datalinks allow you to read/write directly to parameters in the drive using implicit I/O.) A 1 enables the I/O and a 0 disables the I/O. 1. Set the bits in Parameter 13 - [DPI I/O Cfg]. Port 5 Device 20-COMM-C Parameter #: 13 DPI I/O Cfg xxxxxxxxxxx00001 Cmd/Ref b00 Bit Description 0 Logic Command/Reference (Default) 1 Datalink A 2 Datalink B 3 Datalink C 4 Datalink D 5 15 Not Used Bit 0 is the right-most bit. It is highlighted above and equals If a controller is used to control the drive, set adapter Parameters 25 - [M-S Input] and 26 - [M-S Output] for Master-Slave Hierarchy. For details, see Setting Master-Slave Hierarchy on page If Logic Command/Reference is enabled, configure the parameters in the drive to accept the Logic Command and Reference from the adapter. For example, set Parameter 90 - [Speed Ref A Sel] in a PowerFlex 70 or 700 drive to 22 (DPI Port 5) so that the drive uses the Reference from the adapter. Also, verify that the mask parameters (for example, Parameter [Logic Mask]) in the drive are configured to receive the desired logic from the adapter. See the documentation for your drive for details.

32 3-4 Configuring the Adapter 4. If you enabled one or more Datalinks, configure parameters in the drive to determine the source and destination of data in the Datalinks. When using Datalinks, up to 8 drive [Data In xx] parameters ( ) and/or up to 8 [Data Out xx] parameters ( ) must be assigned to point to the appropriate drive parameters for your application. See Chapter 4 for an example. 5. Reset the adapter (see Resetting the Adapter on page 3-7). The adapter is ready to receive I/O. You must now configure the adapter to receive I/O from the master. See Setting Master-Slave Hierarchy. Setting Master-Slave Hierarchy A hierarchy determines the type of device with which the adapter exchanges data. In a Master-Slave hierarchy, the adapter exchanges data with a master, such as a bridge or scanner (1756-CNB/CNBR, 1747-SCNR, and so forth). 1. Enable the desired I/O in Parameter 13 - [DPI I/O Cfg]. See Setting the I/O Configuration on page Set the bits in Parameter 25 - [M-S Input]. This parameter determines the data received from the master by the drive. A 1 enables the I/O and a 0 disables the I/O. Port 5 Device 20-COMM-C Parameter #: 25 M-S Input xxxxxxxxxxx00001 Cmd/Ref b00 Bit Description 0 Logic Command/Reference (Default) 1 Datalink A Input 2 Datalink B Input 3 Datalink C Input 4 Datalink D Input 5 15 Not Used Bit 0 is the right-most bit. It is highlighted above and equals Set the bits in Parameter 26 - [M-S Output]. This parameter determines the data transmitted from the drive to the bridge or scanner. A 1 enables the I/O and a 0 disables the I/O. Port 5 Device 20-COMM-C Parameter #: 26 M-S Output xxxxxxxxxxx00001 Status/Fdbk b00 Bit Description 0 Status/Feedback (Default) 1 Datalink A Output 2 Datalink B Output 3 Datalink C Output 4 Datalink D Output 5 15 Not Used Bit 0 is the right-most bit. It is highlighted above and equals Reset the adapter (see Resetting the Adapter on page 3-7).

33 Configuring the Adapter 3-5 The adapter is ready to receive I/O from the master (that is, scanner). You must now configure the scanner to recognize and transmit I/O to the adapter. See Chapter 4, Configuring the I/O. Setting the Reference Adjustment A Reference Adjustment is a percent scaling factor for the Reference from the network. It can be set between % to allow the drive s Reference to either match the network Reference (equal to %), scale below the network Reference (less than %), or scale above the network Reference (more than %).! ATTENTION: To guard against equipment damage and/or personal injury, note that changes to adapter Parameter 27 - [Ref Adjust] take effect immediately. A drive receiving its Reference from the adapter will receive the newly scaled Reference, resulting in a change of speed. If the adapter is receiving a Reference, set Parameter 27 - [Ref Adjust] to the desired scaling factor. Port 5 Device 20-COMM-C Parameter #: 27 Ref Adjust % 0.00 <> Default = % The adjustment takes effect as soon as it is entered. Setting a Fault Action By default, when I/O communication is disrupted (for example, a cable is disconnected) or the controller is idle (in program mode or faulted), the drive responds by faulting if it is using I/O from the network. You can configure a different response to these faults: Disrupted I/O communication by using Parameter 10 - [Comm Flt Action] An idle controller by using Parameter 11 - [Idle Flt Action]! ATTENTION: Risk of injury or equipment damage exists. Parameters 10 - [Comm Flt Action] and 11 - [Idle Flt Action] let you determine the action of the adapter and connected drive if I/O communication is disrupted or the controller is idle. By default, these parameters fault the drive. You can set these parameters so that the drive continues to run, however, precautions should be taken to verify that the settings of these parameters do not create a risk of injury or equipment damage. When commissioning the drive, verify that your system responds correctly to various situations (for example, a disconnected cable or faulted controller).

34 3-6 Configuring the Adapter Changing the Fault Action Set the values of Parameters 10 - [Comm Flt Action] and 11 - [Idle Flt Action] to an action that meets your application requirements. Value Action Description 0 Fault The drive is faulted and stopped. (Default) 1 Stop The drive is stopped, but not faulted. 2 Zero Data The drive is sent 0 values for data. This does not command a stop. 3 Hold Last The drive continues in its present state. 4 Send Flt Cfg The drive is sent the data that you set in the fault configuration parameters (Parameters 15 - [Flt Cfg Logic] through 24 - [Flt Cfg D2 In]). Port 5 Device 20-COMM-C Parameter #: 10 Comm Flt Action 0 Fault Port 5 Device 20-COMM-C Parameter #: 11 Idle Flt Action 0 Fault Changes to these parameters take effect immediately. A reset is not required. If communication is disrupted and then is re-established, the drive will automatically receive commands over the network again. Setting the Fault Configuration Parameters When setting Parameter 10 - [Comm Flt Action] or 11 - [Idle Flt Action] to Send Flt Cfg, the values in the following parameters are sent to the drive after an I/O communication fault and/or idle fault occurs. You must set these parameters to values required by your application. Parameter Description 15 - [Flt Cfg Logic] A 16-bit value sent to the drive for Logic Command [Flt Cfg Ref] A 32-bit value ( ) sent to the drive as a Reference or Datalink [Flt Cfg x1 In] through 24 - [Flt Cfg x2 In] Important: If the drive uses a 16-bit Reference or 16-bit Datalinks, the most significant word of the value must be set to zero (0) or a fault will occur. Changes to these parameters take effect immediately. A reset is not required.

35 Configuring the Adapter 3-7 Resetting the Adapter Changes to switch settings and some adapter parameters require that you reset the adapter before the new settings take effect. You can reset the adapter by power cycling the drive or by using Parameter 09 - [Reset Module].! ATTENTION: Risk of injury or equipment damage exists. If the adapter is transmitting control I/O to the drive, the drive may fault when you reset the adapter. Determine how your drive will respond before resetting a connected adapter. Set Parameter 09 - [Reset Module] to 1 (Reset Module). Port 5 Device 20-COMM-C Parameter #: 09 Reset Module 1 Reset Module Value Description 0 Ready (Default) 1 Reset Module 2 Set Defaults When you enter 1 (Reset Module), the adapter will be immediately reset. When you enter 2 (Set Defaults), the adapter will set all adapter parameters to their factory-default values. After performing a Set Defaults, enter 1 (Reset Module) so that the new values take effect. The value of this parameter will be restored to 0 (Ready) after the adapter is reset. Viewing the Adapter Status Using Parameters The following parameters provide information about the status of the adapter. You can view these parameters at any time. Parameter Description 04 - [CN Addr Act] The node address used by the adapter. This will be one of the following values: The address set by the rotary switches. The value of Parameter 03 - [CN Addr Cfg]. An old address of the switches or parameter if they have been changed and the adapter has not been reset [CN Rate Act] The data rate used by the adapter [Ref/Fdbk Size] The size of the Reference/Feedback. It will either be 16 bits or 32 bits. It is set in the drive and the adapter automatically uses the correct size [Datalink Size] The size of the Datalinks. It will either be 16 bits or 32 bits. It is set in the drive and the adapter automatically uses the correct size [CN Active Cfg] Source from which the adapter node address is taken. This will be either 0 (Switches) or 1 (EEPROM) in which the address from Parameter 03 - [CN Addr Cfg] is stored. The source is determined by the settings of the adapter Node Address switches [DPI I/O Act] The Reference/Feedback and Datalinks used by the adapter. This value is the same as Parameter 13 - [DPI I/O Cfg] unless the parameter was changed and the adapter was not reset. Bit Definition Not Used Not Used Not Used Datalink D Datalink C Datalink B Datalink A Cmd/Ref Default x x x Bit = I/O disabled 1 = I/O enabled

36 3-8 Configuring the Adapter Updating the Adapter Firmware The adapter firmware can be updated over the network or serially through a direct connection from a computer to the drive using a 1203-USB or 1203-SSS serial converter. When updating firmware over the network, you can use the Allen-Bradley ControlFLASH software tool, the built-in update capability of DriveExplorer Lite or Full software, or the built-in update capability of DriveExecutive software. When updating firmware through a direct serial connection from a computer to a drive, you can use the same Allen-Bradley software tools described above, or you can use HyperTerminal software set to the X-modem protocol. To obtain a firmware update for this adapter, go to support/abdrives/webupdate. This website contains all firmware update files and associated Release Notes that describe the following items: Firmware update enhancements and anomalies How to determine the existing firmware revision How to update firmware using ControlFLASH, DriveExplorer, DriveExecutive, or HyperTerminal software

37 Chapter 4 Configuring the I/O This chapter provides instructions on how to configure a Rockwell Automation ControlLogix, PLC-5, or SLC 500 controller to communicate with the adapter and connected PowerFlex drive. Topic Page Using RSLinx Classic Software 4-1 ControlLogix Controller Example 4-2 PLC-5 Controller Example 4-24 SLC 500 Controller Example 4-30 Using RSLinx Classic Software RSLinx Classic software, in all its variations (Lite, Gateway, OEM, and so forth), is used to provide a communication link between the computer, network, and controller. RSLinx Classic software requires its network-specific driver to be configured before communication is established with network devices. To configure the RSLinx driver, follow this procedure. 1. Start RSLinx Classic software and select Communications > Configure Drivers to display the Configure Drivers screen. 2. From the Available Driver Types pull-down menu, choose the computer communication card (1784-KTCX, 1784-PCC, or 1784-PCIC) being used to connect your computer to the network. 3. Click Add New to display the Add New RSLinx Driver screen. 4. Use the default name or type a new name and click OK. The Configure driver: screen appears. 5. Configure the driver for your computer and network settings. 6. Click OK.

38 4-2 Configuring the I/O The Configure Drivers screen reappears with the new driver in the Configured Drivers list. 7. Click Close to close the Configure Drivers screen. 8. Keep RSLinx running and verify that your computer recognizes the drive. a. Select Communications > RSWho. b. In the menu tree, click + next to the ControlNet driver. ControlLogix Controller Example After the adapter is configured, the connected drive and adapter will be a single node on the network. This section provides the steps needed to configure a simple ControlNet network (see Figure 4.1). In our example, we will configure a ControlLogix controller with 1756-CNBR (Series D) bridge to communicate with a drive using Logic Command/Status, Reference/Feedback, and 16 Datalinks (8 to read and 8 to write) over the network. Figure 4.1 Example ControlLogix Controller ControlNet Network ControlLogix Controller with 1756-CNBR Bridge PowerFlex 70 Drive with 20-COMM-C Adapter Computer with ControlNet Connection (optional redundancy) Channel A Channel B ControlNet Network TIP: Information for PowerFlex 750-Series drives has been added to this manual where it is applicable.

39 Configuring the I/O 4-3 Adding the Bridge to the I/O Configuration To establish communication between the controller and adapter over the network, you must first add the ControlLogix controller and its bridge to the I/O configuration. This procedure is similar for all RSLogix 5000 versions. 1. Start RSLogix 5000 software. 2. Select File > New to display the New Controller screen. a. Choose the appropriate choices for the fields in the screen to match your application. b. Click OK. The RSLogix 5000 window reappears with the treeview in the left pane. 3. In the treeview, right-click the I/O Configuration folder and choose New Module. The Select Module screen appears. 4. In the list, select the ControlNet bridge used by your controller.

40 4-4 Configuring the I/O In this example, we use a 1756-CNB ControlNet Bridge (Series E), so the 1756-CNB option is selected. 5. Click CREATE. 6. In the Select Major Revision pop-up dialog box, select the major revision of its firmware. 7. Click OK. The bridge s New Module screen appears. 8. Edit the following: Box Name Description Node Slot Revision Electronic Keying Open Module Properties Setting A name to identify the ControlNet bridge. Optional description of the ControlNet bridge. The node address of the ControlNet bridge. The slot of the ControlNet bridge in the rack. The minor revision of the firmware in the bridge. (You already set the major revision by selecting the bridge series in step 4.) Compatible Keying. The Compatible Keying setting for Electronic Keying ensures the physical module is consistent with the software configuration before the controller and bridge make a connection. Therefore, be sure that you have set the correct revision in this screen. See the online Help for additional information on this and other Electronic Keying settings. When this box is checked, clicking OK opens additional module properties screens to further configure the bridge. When unchecked, clicking OK closes the bridge s New Module screen. For this example, uncheck this box. 9. Click OK. The bridge is now configured for the ControlNet network and added to the RSLogix 5000 project. It appears in the I/O Configuration folder. In our example, a 1756-CNB/E bridge appears under the I/O Configuration folder with its assigned name. For convenience, keep the project open. Later in this chapter the project will need to be downloaded to the controller.

41 Configuring the I/O 4-5 There are three ways to add the adapter into the I/O configuration: Drive Add-on Profiles (RSLogix 5000 software, version or later) Classic Profile (RSLogix 5000 software, versions ) Generic Profile (RSLogix 5000 software, all versions) These are described in separate sections below. If your version of RSLogix 5000 software supports drive Add-on Profiles, we recommend that you use this method. Using RSLogix 5000 Drive Add-on Profiles, Version or Later When compared to using the RSLogix 5000 Classic Profile (versions ) or Generic Profile (all versions), the RSLogix 5000 drive Add-on Profiles provide the following advantages: Profiles for specific drives that provide descriptive controller tags for basic control I/O words (Logic Command/Status and Reference/ Feedback) and Datalinks. Additionally, Datalinks automatically take the name of the drive parameter to which they are assigned. These profiles virtually eliminate I/O mismatch errors and substantially reduce drive configuration time. New Drive tab eliminates the need for a separate drive software configuration tool. Drive configuration settings are saved as part of the RSLogix 5000 software, version or later, project file (.ACD) and also downloaded to the controller. Drive Add-on Profiles can be updated anytime. When a new drive is used, or to benefit from new updates for Add-on Profiles, you will need the newest Add-on Profile update. Go to abdrives/webupdate to download the latest RSLogix 5000 drive Add-on Profile. To determine your drive Add-on Profile version, see Allen-Bradley Knowledgebase document # Add the Drive/Adapter to the I/O Configuration To transmit data between the bridge and the drive, you must add the drive as a child device to the parent bridge. In this example, RSLogix 5000 software, version is used with drive Add-on Profile version In the treeview, right-click on the bridge and choose New Module to display the Select Module screen.

42 4-6 Configuring the I/O In our example, we right-click on the 1756-CNB/E bridge. TIP: If the PowerFlex drive is not shown, go to support/abdrives/webupdate and download the latest RSLogix 5000 drive Add-on Profile. 2. From the list, select the drive and its connected adapter. For this example, we selected PowerFlex 70 EC-C. 3. Click CREATE. The drive s New Module screen appears. 4. On the General tab, edit the following data about the drive/adapter. Box Name Description Node Setting A name to identify the drive. Optional description of the drive/adapter. The node address of the adapter. 5. On the New Module screen in the Module Definition section, click Change to launch the Module Definition screen and begin the drive/ adapter configuration process.

43 Configuring the I/O 4-7 In this example, Datalinks are used to do the following. Read Write to Output Current (Parameter 3) Accel Time 1 (Parameter 140) DC Bus Voltage (Parameter 12) Decel Time 1 (Parameter 142) Fault 1 Code (Parameter 243) High Resolution Reference (Parameter 308) TIP: To get the latest RSLogix 5000 drive Add-on Profile, go to In the Module Definition screen, edit the following information. Box Revision Electronic Keying Setting The major and minor revision of the firmware (database) in the drive. If the drive s major and minor revision is not available, the drive database is not installed on your computer. To get the correct database revision, use one of the following buttons at the bottom left of the Module Definition screen: Create Database: Creates a database from an online network drive. Clicking this button displays an RSLinx software RSWho window. Browse to the online drive (for this example, PowerFlex 70 EC), select it, and click OK. The database will be uploaded and stored on the computer. Thereafter, close the Module Definition screen and then re-open it to display the new revision. Web Update: When a drive is not available online, opens the Allen-Bradley Drives Web Updates website to download a specific database file. After downloading the file, close the Module Definition screen and then re-open it to display the new revision. Match Drive: Use this button when the drive being added to the network matches the drive profile (revision, rating, configuration settings, and so forth) of an existing online network drive. Click this button to conveniently create a duplicate drive profile from the online drive, and automatically load this identical information into the Module Definition screen. This eliminates the need to manually enter the information each time a new drive with a matching profile is added to the network. Compatible Module. The Compatible Module setting for Electronic Keying ensures that the physical module is consistent with the software configuration before the controller and bridge make a connection. Therefore, ensure that you have set the correct revision in this screen. See the online Help for additional information on this and other Electronic Keying settings. If keying is not required, select Disable Keying. Drives do not require keying, and so Disable Keying is recommended.

44 4-8 Configuring the I/O Box Drive Rating Connection Data Format Datalink A, B, C, D Sort Input/ Output selection Use Network Reference Setting The voltage and current rating of the drive. If the drive rating is not listed, the drive database is not installed on your computer. To get the correct drive rating, use the Create Database, Web Update, or Match Drive button described above. Parameters via Datalinks. When selecting Parameters via Datalinks (default), the controller tags for the Datalinks use the drive parameter names to which they are assigned. When selecting Datalinks, the controller tags for the Datalinks have non-descriptive UserDefinedData[n] names like those used in RSLogix 5000 software, version Parameters. When the Connection field is set to Parameters via Datalinks, Parameters is automatically selected. When the Connection field is set to Datalinks, you must select the number of Datalinks required for your application in the Data Format field. In the Input Data column, assigns selected drive parameters to be READ by the controller. In the Output Data column, assigns selected drive parameters to be WRITTEN by the controller. When this box is checked, sorts the Input Data and Output Data assigned parameters by name and then by number, and enables parameter search by name. When unchecked, sorts the assigned parameters by parameter number and then by name, and enables parameter search by number. Conveniently selects the speed reference for the drive to come from the network. This box is checked by default. When a 32-bit parameter is selected for Input Data or Output Data for a drive with 16-bit Datalinks, two contiguous Datalinks (for example, x1 and x2, where x = A, B, C or D) are automatically assigned as a pair to represent that parameter. See Datalink examples in the screen shown on the previous page. For more information on Datalinks, see Using Datalinks on page On the Module Definition screen, notice that the automatically-assigned controller tags DriveStatus, OutputFreq, DriveLogicRslt, and CommandedFreq are always used. When a Datalink is enabled, the following 20-COMM-C or 20-COMM-Q adapter I/O parameters are automatically set: Parameter 13 - [DPI I/O Cfg] turns on the enabled Datalink bit so the 20-COMM-C or 20-COMM-Q adapter will communicate that Datalink s information with the drive. Parameter 25 - [M-S Input] turns on the enabled Datalink bit so the 20-COMM-C or 20-COMM-Q adapter will input that Datalink s information from the controller. Parameter 26 - [M-S Output] turns on the enabled Datalink bit so the 20-COMM-C or 20-COMM-Q adapter will output that Datalink s information to the controller. 7. Click OK on the Module Definition screen to save the drive and adapter configuration and close the screen. The drive s New Module screen reappears.

45 Configuring the I/O On the New Module screen, click the Connection tab. 9. In the Requested Packet Interval (RPI) box, set the value to 5.0 milliseconds or greater. This value determines the maximum interval that a controller should use to move data to and from the adapter. To conserve bandwidth, use higher values for communicating with low priority devices. We recommend keeping the default value of 20.0 milliseconds. The Inhibit Module box, when checked, inhibits the module from communicating with the RSLogix 5000 project. When the Major Fault on box is checked, a major controller fault will occur when the module s connection fails while the controller is in the Run Mode. For this example, leave the Inhibit Module and Major Fault On boxes unchecked, but keep the Use Scheduled Connections over ControlNet box checked. 10. On the New Module screen, click the Drive tab.

46 4-10 Configuring the I/O 11. In the treeview, double-click Parameter List to display the drive s linear parameter list. a. Scroll to drive parameter 90 - [Speed Ref A Sel] and set its value to DPI Port 5. This enables the drive to receive its Reference from the network via the 20-COMM-C or 20-COMM-Q adapter. For speed Reference scaling information, see Using Reference/Feedback on page 5-8. b. Click Close to save the setting and close the Parameters List screen. The New Module screen reappears. 12. Click OK on the New Module screen. The new node ( My_PowerFlex_70_EC_Drive in this example) now appears under the bridge ( My_ControlNet_Bridge in this example) in the I/O Configuration folder. If you double-click the Controller Tags, you will see that module-defined data types and tags have been automatically created (Figure 4.2). Note that all tag names are defined and Datalinks include the assigned drive parameter name. After you save and download the configuration, these tags allow you to access the Input and Output data of the drive via the controller s ladder logic. Figure 4.2 Controller Tags

47 Configuring the I/O 4-11 Save the I/O Configuration to the Controller After adding the bridge and drive/adapter to the I/O configuration, you must download the configuration to the controller. You should also save the configuration to a file on your computer. 1. In the RSLogix 5000 window, select Communications > Download. The Download dialog box appears. TIP: If a message box reports that RSLogix 5000 software is unable to go online, select Communications > Who Active to find your controller in the Who Active screen. After finding and selecting the controller, click Set Project Path to establish the path. If your controller does not appear, you need to add or configure the ControlNet driver with RSLinx software. See Using RSLinx Classic Software on page 4-1 and RSLinx online help for details. 2. Click Download to download the configuration to the controller. When the download is successfully completed, RSLogix 5000 software goes into the Online mode and the I/O Not Responding box in the upper-left of the window should be flashing green. Also, a yellow warning symbol should be displayed on the I/O Configuration folder in the treeview and on the drive profile because the connections have not yet been scheduled using RSNetWorx for ControlNet software. If the controller was in Run Mode before clicking Download, RSLogix 5000 software prompts you to change the controller mode back to Remote Run. In this case, choose the appropriate mode for your application. If the controller was in Program Mode before clicking Download, this prompt will not appear. 3. Select File > Save. If this is the first time you saved the project, the Save As dialog box appears. a. Navigate to a folder b. Type a file name.

48 4-12 Configuring the I/O c. Click Save to save the configuration to a file on your computer. To be sure that the present project configuration values are saved, RSLogix 5000 software prompts you to upload them. Click Yes to upload and save the values. Correlate the Drive with the Controller You must now correlate the drive settings to the RSLogix 5000 project I/O settings so that they match. This requires loading the project I/O settings into the drive. 1. In the treeview under I/O Configuration, right-click the drive profile (for this example, My_PowerFlex_70_EC_Drive) and choose Properties. 2. Click the Drive tab. 3. Click Connect to Drive to begin the correlation process. The Connect To Drive screen appears. 4. Browse the communication path to the drive and select the drive. 5. Click OK. After the drive configuration data has been verified, a pop-up dialog box appears, which synchronizes ports from the online drive to the project to be sure that correct Datalinks are assigned. 6. Click OK. If the Differences Found screen appears which is typical, click Download. This will download the project settings from the controller to the drive and its connected adapter. If Upload is clicked, the drive and adapter settings are uploaded to the controller.

49 Configuring the I/O 4-13 TIP: On subsequent connections to the drive (after initial download), click Upload. 7. When the Reset Comm Module screen appears, click Yes to reset the communication adapter so that the new I/O settings take effect. After resetting the communication module, which may take up to a minute to complete, a Comm Module Reset Error popup message may appear. If it does, click OK to close this message and complete the adapter reset. Then click OK to close the Drive Correlation screen. 8. Use the procedure in the next subsection Use RSNetworx for ControlNet Software to Save the I/O to the Bridge to do the following: Change the I/O Not Responding box in the upper-left of the RSLogix 5000 window from flashing green to steady green. Remove the yellow warning symbols in the treeview under the I/O Configuration folder and drive profile. Use RSNetworx for ControlNet Software to Save the I/O to the Bridge After configuring the I/O in the controller and drive, you must now download and save these configurations to the bridge. This will also resolve the I/O Not Responding box and the yellow warning symbols in the RSLogix 5000 project. 1. Start RSNetWorx for ControlNet software. 2. In the RSNetWorx for ControlNet window, select File > New to display the New File screen. 3. Select ControlNet Configuration as the network configuration type. 4. Click OK.

50 4-14 Configuring the I/O 5. Select Network > Online to display the Browse for Network screen. 6. Expand the communication path from your computer to the ControlNet bridge. The following screen shows our example navigating to devices that are on a ControlNet network. Depending on the communication link you are using, the navigation path may be different. 7. After selecting a valid path to the ControlNet network (for this example, A, ControlNet), click OK. As the selected ControlNet path is browsed, RSNetWorx for ControlNet software creates a graph view window that shows a graphical representation of the devices on the network.

51 Configuring the I/O 4-15 If the icon for the drive (for this example, PowerFlex 70 EC) on the network appears as Unrecognized Device, you must download the EDS file for that PowerFlex drive from the Rockwell Automation website. a. Go to the website b. On the website search screen in the Network entry field, enter the type of network (for this example, ControlNet), which enables the use of the other search fields. c. In the Keyword entry field, enter the type of PowerFlex drive (for this example, PowerFlex 70EC), noting that this field is space sensitive. d. Click Search. Due to the large number of EDS files, this search may take seconds or up to several minutes. e. On the search results screen in the Details & Download Column, click the Download hyperlink for the EDS file. f. Click Save on the File Download screen to save the EDS file to an appropriate location on your computer. g. Launch the EDS Hardware Installation Tool by clicking the Microsoft Windows Start button and selecting Programs > Rockwell Software > RSLinx Tools > EDS Hardware Installation Tool. Follow the screen prompts to add the EDS file for use with your project. h. Reboot the computer and repeat steps 1 through 7 at the beginning of this subsection. The Unrecognized Device icon in the RSNetWorx for ControlNet graph view window in step 7 should have been replaced by a drive icon (for this example, the icon for a PowerFlex 70 EC drive).

52 4-16 Configuring the I/O 8. Select Network > Enable Edits or check the Edits Enabled box in the RSNetWorx for ControlNet project window. If the bridge has a different I/O configuration than the configuration now being saved, the Online/Offline mismatch dialog box will appear. a. When both Options choices are available, click Use offline data (download). When this choice is dimmed (grayed out), you must click Use online data (upload). b. Click OK. TIP: If a message box reports that the download cannot be completed because the controller is not in Program mode, click Change Mode to place the controller in Remote Program mode and continue the download. 9. Select File > Save to save the I/O configuration file to the computer. If this is the first time you saved the project, the Save As dialog box appears. a. Navigate to a folder. b. Type a file name. c. Click Save to save the configuration as a file on your computer. The Save Configuration dialog box appears. TIP: When both Save Type choices are available, we recommend you click Optimize and re-write schedule for all connections. d. Click OK to download the I/O configuration to the bridge.

53 Configuring the I/O 4-17 Using the RSLogix 5000 Classic Profile, Versions When compared to using the RSLogix 5000 Generic Profile (all versions), the RSLogix 5000 Classic Profile provides these advantages: Profiles for specific drives (Figure 4.3) that provide descriptive controller tags for basic control I/O words (Logic Command/Status and Reference/ Feedback). The controller tags for Datalinks, however, have non-descriptive UserDefinedData[n] names. Improved I/O configuration no I/O assembly configuration required. Basic control I/O is defined, but Datalinks still need to be configured/ mapped. The Setup tab includes a DriveExecutive icon link to conveniently launch DriveExecutive software (when installed on computer) to match the adapter I/O configuration with the controller, and to assign the Datalink parameters in the drive. This reduces I/O mismatches. TIP: Because the RSLogix 5000 Classic Profile has been significantly improved upon by RSLogix 5000 Drive Add-on Profiles, version or later, we recommend using RSLogix 5000 Drive Add-on Profiles to take advantage of their benefits (more intuitive, time saving, and less likely to make I/O configuration errors). Figure 4.3 Classic Profile Screens for Drives

54 4-18 Configuring the I/O When Datalinks are used, you must enable the desired Datalinks and assign names to their non-descriptive controller tags. When a Datalink is enabled, you must set the following adapter I/O parameters: Parameter 13 - [DPI I/O Cfg] turns on the enabled Datalink bit so the 20-COMM-C or 20-COMM-Q adapter will communicate that Datalink s information with the drive. Parameter 25 - [M-S Input] turns on the enabled Datalink bit so the 20-COMM-C or 20-COMM-Q adapter will input that Datalink s information from the controller. Parameter 26 - [M-S Output] turns on the enabled Datalink bit so the 20-COMM-C or 20-COMM-Q adapter will output that Datalink s information to the controller. When using Datalinks, up to 8 drive [Data In xx] parameters ( ) and/or up to 8 [Data Out xx] parameters ( ) must be assigned to point to the appropriate drive parameters for your application. Important: To change the I/O Not Responding box in the upper-left of the RSLogix 5000 window from flashing green to steady green, and to remove the yellow warning symbols displayed in the treeview under the I/O Configuration folder and drive profile, follow the procedure in Use RSNetworx for ControlNet Software to Save the I/O to the Bridge on page Using the RSLogix 5000 Generic Profile, All Versions We recommend that you use the basic RSLogix 5000 Generic Profile for only the following reasons: A specific drive profile in other versions of RSLogix 5000 software is unavailable. Users are already familiar with a drive Generic Profile and do not want to convert an existing project to a Classic Profile, versions , or to a drive Add-on Profile (RSLogix 5000 software, version or later.) A project must maintain specific revision level control. The controller cannot be taken offline. RSLogix 5000 software, version or later, enables the drive Generic Profile to be added while the controller is online and in the Run mode.

55 Configuring the I/O 4-19 Add the Drive/Adapter to the I/O Configuration To transmit data between the bridge and the drive, you must add the drive as a child device to the parent bridge. 1. In the treeview, right-click the bridge and select New Module to display the Select Module screen. In our example, we right-click on the 1756-CNBR/D bridge. 2. Expand the Communications group to display all of the available communication modules. 3. Select CONTROLNET-MODULE from the list to configure the drive and its connected 20-COMM-C or 20-COMM-Q adapter. 4. Click OK. The drive s New Module screen appears. 5. Edit the following information about the drive and adapter. Box Name Description Comm Format Node Open Module Properties Setting A name to identify the drive and adapter. Optional description of the drive/adapter. Data - INT (This setting formats the data in 16-bit words.) The node address of the adapter. When this box is checked, clicking OK opens additional module properties screens to further configure the drive/adapter. When unchecked, clicking OK closes the drive s New Module screen. For this example, check this box.

56 4-20 Configuring the I/O Logic Command/ Status 6. Under Connection Parameters, edit the following information. Depending on the size of the drive s Reference/Feedback and the number of Datalinks used in your I/O configuration, Table 4.A, Table 4.B, or Table 4.C defines the number of 16-bit words that you need to enter for the Input Size and Output Size boxes. Table 4.A Drives with 16-bit Reference/Feedback and 16-bit Datalinks These products include the following: PowerFlex 70 drives with standard or enhanced control PowerFlex 700 drives with standard control PowerFlex 700H drives Table 4.B Box Assembly Instance Size Input 1 (This value is required.) Output 2 (This value is required.) Configuration 6 (This value is required.) Ref/Fdbk (16-bit) Datalinks (16-bit) Drives with 16-bit Reference/Feedback and 32-bit Datalinks These products include the following: PowerFlex 700 drives with vector control PowerFlex 700L drives with 700 control The value will vary based on your application (setting of Parameters 13 - [DPI I/O Cfg] and 26 - [M-S Output]) and the size (16-bit or 32-bit) of the Reference/Feedback and Datalinks in the drive. See Table 4.A, Table 4.B or Table 4.C. The value will vary based on your application (setting of Parameters 13 - [DPI I/O Cfg] and 25 - [M-S Input]) and the size (16-bit or 32-bit) of the Reference/Feedback and Datalinks in the drive. See Table 4.A, Table 4.B or Table 4.C. 0 (This value is required.) User Configured Settings SMC Flex smart motor controllers SMC-50 smart motor controllers A B C D Size in Words Par Par [DPI I/O Cfg] [M-S Input] Input Output Logic Command/ Status Ref/Fdbk (16-bit) Datalinks (32-bit) User Configured Settings PowerFlex Digital DC drives Par [M-S Output] A B C D Size in Words Par Par [DPI I/O Cfg] [M-S Input] Input Output Par [M-S Output]

57 Configuring the I/O 4-21 Logic Command/ Status Table 4.C Drives with 32-bit Reference/Feedback and 32-bit Datalinks These products include the following: PowerFlex 700S drives with Phase I or Phase II control PowerFlex 753 drives PowerFlex 700L drives with 700S control PowerFlex 755 drives Ref/Fdbk (32-bit) Datalinks (32-bit) User Configured Settings A B C D Size in Words Par Par [DPI I/O Cfg] [M-S Input] Input Output Par [M-S Output] TIP: For instructions on configuring the I/O for the adapter using Parameter 13 - [DPI I/O Cfg] and its Master-Slave hierarchy using Parameters 25 - [M-S Input] and 26 - [M-S Output], see Setting the I/O Configuration on page 3-3. When using Datalinks, up to 8 drive [Data In xx] parameters ( ) and/or up to 8 [Data Out xx] parameters ( ) must be assigned to point to the appropriate drive parameters for your application. 7. After setting the information in the drive s New Module screen, click OK. The Module Properties screen appears. 8. Click the Connection tab. 9. In the Requested Packet Interval (RPI) box, set the value to 5.0 milliseconds or greater. This value determines the maximum interval that a controller should use to move data to and from the adapter. To conserve bandwidth, use higher values for communicating with low priority devices. For this example, leave the Inhibit Module and Major Fault boxes unchecked. 10. Click OK.

58 4-22 Configuring the I/O The new node ( My_PowerFlex_70_EC_Drive in this example) now appears under the bridge ( My_ControlNet_Bridge in this example) in the I/O Configuration folder. If you double-click the Controller Tags, you will see that module-defined data types and tags have been automatically created (Figure 4.4). After you save and download the configuration, these tags allow you to access the Input and Output data of the drive via the controller s ladder logic. For this example, all Datalinks (A, B, C, and D) are enabled. The Input Size is set to 12 words and the Output Size is set to 10 words. Also, the following adapter I/O parameters are set to the following values. Adapter Parameter No. Setting 13 - [DPI I/O Cfg] xxxx xxxx xxx [M-S Input] xxxx xxxx xxx [M-S Output] xxxx xxxx xxx Reset the adapter (see Resetting the Adapter on page 3-7) or power cycle the drive. For the drive speed reference and Datalink parameter values and the adapter setup parameter values, see Drive and Adapter Parameter Settings on page Figure 4.4 Controller Tags Save the I/O Configuration to the Controller After adding the bridge and drive/adapter to the I/O configuration, you must download the configuration to the controller. You should also save the configuration as a file on your computer. TIP: When using RSLogix 5000 software, version or later, you can add the I/O configuration of a Generic Profile while the controller is online and in the Run mode.

59 Configuring the I/O In the RSLogix 5000 window, select Communications > Download. The Download dialog box appears. TIP: If a message box reports that RSLogix 5000 software is unable to go online, select Communications > Who Active to find your controller in the Who Active screen. After finding and selecting the controller, click Set Project Path to establish the path. If your controller does not appear, you need to add or configure the ControlNet driver with RSLinx software. See Using RSLinx Classic Software on page 4-1 and RSLinx online help for details. 2. Click Download to download the configuration to the controller. When the download is successfully completed, RSLogix 5000 software goes into the Online mode and the I/O Not Responding box in the upper-left of the screen should be flashing green. 3. Select File > Save. If this is the first time you saved the project, the Save As dialog box appears. a. Navigate to a folder. b. Type a file name. c. Click Save to save the configuration as a file on your computer. To be sure that the present project configuration values are saved, RSLogix 5000 software prompts you to upload them. Click Yes to upload and save the values. 4. Configure any Datalinks in the drive (for example, Datalink parameters in PowerFlex 70/700 drives) that were enabled in the controller and adapter during I/O configuration (Table 4.A, Table 4.B or Table 4.C). Each Datalink being used must be assigned to a specific parameter in the drive or connected peripheral. If this is not done, the controller will receive or send placeholder data instead of actual drive or peripheral parameter values. 5. Place the controller in Remote Run or Run Mode.

60 4-24 Configuring the I/O 6. Use the procedure in the subsection Use RSNetworx for ControlNet Software to Save the I/O to the Bridge on page 4-13 to: Change the I/O Not Responding box in the upper-left of the RSLogix 5000 window from flashing green to steady green. Remove the yellow warning symbols in the treeview under the I/O Configuration folder and drive profile. PLC-5 Controller Example After the adapter is configured, the connected drive and adapter will be a single node on the network. This section provides the steps needed to configure a simple ControlNet network (see Figure 4.5). In our example, we will configure a PLC-5/40C controller to communicate with a drive using Logic Command/Status, Reference/Feedback, and Datalinks over the network. Figure 4.5 Example PLC-5 Controller ControlNet Network PLC-5/40C Controller PowerFlex 70 Drive with 20-COMM-C Adapter Computer with ControlNet Connection (optional redundancy) Channel A Channel B ControlNet Network TIP: Information for PowerFlex 750-Series drives has been added to this manual where it is applicable. Configuring Parameters for Network I/O Because the I/O for the drive is defined in the next subsection Use RSNetWorx for ControlNet Software to Configure the I/O and Save It to the Controller on page 4-25, there is no need to configure any I/O inside the RSLogix 5 project, version 7.00 or later, until using the I/O as described in Chapter 5. However, to get the adapter to operate with the I/O created in Chapter 5, you need to configure the adapter to accept the I/O and the drive to point to the appropriate Datalinks. 1. Set adapter Parameters 13 - [DPI I/O Cfg], 25 - [M-S Input], and 26 - [M-S Output] to values that meet your application requirements.

61 Configuring the I/O 4-25 For this example, the adapter I/O parameters are set to these values. Adapter Parameter No. Setting 13 - [DPI I/O Cfg] xxxx xxxx xxx [M-S Input] xxxx xxxx xxx [M-S Output] xxxx xxxx xxx Reset the adapter (see Resetting the Adapter on page 3-7) or power cycle the drive. For the drive speed reference and Datalink parameter values and the adapter setup parameter values, see Drive and Adapter Parameter Settings on page Use RSNetWorx for ControlNet Software to Configure the I/O and Save It to the Controller To establish an I/O configuration that can be used between the controller and drive over a ControlNet network, you must first create an I/O image for the PLC-5/40C controller s built-in scanner. 1. Start RSNetWorx for ControlNet software. 2. In the RSNetWorx for ControlNet window, select File > New to display the New File screen. 3. Select ControlNet Configuration as the network configuration type. 4. Click OK. 5. Select Network > Online to display the Browse for Network screen. 6. Expand the communication path from your computer to the PLC-5/40C controller.

62 4-26 Configuring the I/O The following screen shows our example navigating to devices that are on a ControlNet network. Depending on the communication link you are using, the navigation path may be different. 7. After selecting a valid path to the ControlNet network (for this example, ControlNet, ControlNet), click OK. As the selected ControlNet path is browsed, RSNetWorx for ControlNet software creates a graph view window that shows a graphical representation of the devices on the network. If the icon for the drive (for this example, PowerFlex 70 EC) on the network appears as Unrecognized Device, you must download the EDS file for that PowerFlex drive from the Rockwell Automation website. a. Go to the website eds.

63 Configuring the I/O 4-27 b. On the website search screen in the Network entry field, enter the type of network (for this example, ControlNet), which enables the use of the other search fields. c. In the Keyword entry field, enter the type of PowerFlex drive (for this example, PowerFlex 70EC), noting that this field is space sensitive. d. Click Search. Due to the large number of EDS files, this search may take seconds or up to several minutes. e. On the search results screen in the Details & Download Column, click the Download hyperlink for the EDS file. f. Click Save on the File Download screen to save the EDS file to an appropriate location on your computer. g. Launch the EDS Hardware Installation Tool by clicking the Microsoft Windows Start button and selecting Programs > Rockwell Software > RSLinx Tools > EDS Hardware Installation Tool. Follow the screen prompts to add the EDS file for use with your project. h. Reboot the computer and repeat steps 1 through 7 at the beginning of this subsection. The Unrecognized Device icon in the RSNetWorx for ControlNet graph view window in step 7 should have been replaced by a drive icon (for this example, the icon for a PowerFlex 70 EC drive). 8. Select Network > Enable Edits or check the Edits Enabled box in the RSNetWorx for ControlNet project window. If the PLC-5/40C controller has a different I/O configuration than the configuration now being saved, the Online/Offline mismatch dialog box will appear. a. When both Options choices are available, click Use offline data (download). When this choice is dimmed (grayed out), you must select Use online data (upload). b. Click OK. TIP: If a message box reports that the download cannot be completed because the controller is not in Program mode, click Change Mode to place the controller in Remote Run mode and continue the download.

64 4-28 Configuring the I/O 9. In the RSNetWorx for ControlNet graph view window, right-click the PLC-5/40C icon and choose Scanlist Configuration to display the Scanlist Configuration screen. 10. Right-click the PowerFlex 70 EC drive row in the screen and choose Insert Connection to display the Connection Properties screen. a. In this screen, leave the Connection Name box at the default value shown. b. For the Requested Packet Interval box, choose a value that is suitable for your application, but is at least 5 ms. c. For the Input Size and Output Size boxes, use the pull-down menu to choose the number of words that are required for your I/O. The size will depend on the I/O that you enabled in the adapter using Parameter 13 - [DPI I/O Cfg]. For this example, an Input Size of 10 and an Output Size of 10 are selected. Depending on the size of the drive s Reference/Feedback and the number of Datalinks used in your I/O configuration, Table 4.D, Table 4.E, or Table 4.F defines the number of 16-bit words that you need to enter for the Input Size and Output Size boxes.

65 Configuring the I/O 4-29 Logic Command/ Status Table 4.D Drives with 16-bit Reference/Feedback and 16-bit Datalinks These products include the following: PowerFlex 70 drives with standard or enhanced control SMC Flex smart motor controllers PowerFlex 700 drives with standard control SMC-50 smart motor controllers PowerFlex 700H drives Ref/Fdbk (16-bit) Table 4.E Drives with 16-bit Reference/Feedback and 32-bit Datalinks These products include the following: PowerFlex 700 drives with vector control PowerFlex Digital DC drives PowerFlex 700L drives with 700 control Table 4.F Drives with 32-bit Reference/Feedback and 32-bit Datalinks These products include the following: PowerFlex 700S drives with Phase I or Phase II control PowerFlex 753 drives PowerFlex 700L drives with 700S control PowerFlex 755 drives 11. Click OK. Datalinks (16-bit) User Configured Settings A B C D Size in Words Par Par [DPI I/O Cfg] [M-S Input] Input Output Logic Command/ Status Ref/Fdbk (16-bit) Datalinks (32-bit) User Configured Settings Par [M-S Output] A B C D Size in Words Par Par [DPI I/O Cfg] [M-S Input] Input Output Logic Command/ Status Ref/Fdbk (32-bit) Datalinks (32-bit) User Configured Settings Par [M-S Output] A B C D Size in Words Par Par [DPI I/O Cfg] [M-S Input] Input Output Par [M-S Output] TIP: If necessary, the N9:0, N10:0, and N11:0 address defaults can be changed to meet processor address requirements or eliminate address conflicts.

66 4-30 Configuring the I/O An address row (in blue text) will be added below the PowerFlex 70 EC drive row. 12. Select File > Save to save the I/O configuration file to the PLC-5/40C controller. The Save Configuration dialog box appears. TIP: If both Save Type choices are available, we recommend to click Optimize and re-write schedule for all connections. 13. Click OK to download the I/O configuration to the controller. A warning will appear about communication and I/O disruption on the network. 14. Click Yes. If this is the first time that you saved the project, the Save As dialog box appears. a. Navigate to a folder. b. Type a file name. c. Click Save to save the configuration as a file on your computer. SLC 500 Controller Example After the adapter is configured, the connected drive and adapter will be a single node on the network. This section provides the steps needed to configure a simple ControlNet network (see Figure 4.6). In our example, we will configure a SLC 500 controller to communicate with a drive using Logic Command/Status, Reference/Feedback, and Datalinks over the network. Figure 4.6 Example SLC 500 Controller ControlNet Network SLC 5/05 Controller with 1747-SCNR PowerFlex 70 Drive with 20-COMM-C Adapter Computer with ControlNet Connection (optional redundancy) Channel A Channel B ControlNet Network TIP: Information for PowerFlex 750-Series drives has been added to this manual where it is applicable.

67 Configuring the I/O 4-31 Configuring Parameters for Network I/O Because the I/O for the drive is defined in the next subsection Use RSNetWorx for ControlNet Software to Configure the I/O and Save It to the 1747-SCNR Scanner on page 4-31, there is no need to configure any I/O inside the RSLogix 500 project, version 7.00 or later, until using the I/O as described in Chapter 5. However, to get the adapter to operate with the I/O created in Chapter 5, you need to configure the adapter to accept the I/O and drive to point to the appropriate Datalinks. 1. Set adapter parameters 13 - [DPI I/O Cfg], 25 - [M-S Input], and 26 - [M-S Output] to values that meet your application requirements. For this example, the adapter I/O parameters are set to these values. Adapter Parameter No. Setting 13 - [DPI I/O Cfg] xxxx xxxx xxx [M-S Input] xxxx xxxx xxx [M-S Output] xxxx xxxx xxx Reset the adapter (see Resetting the Adapter on page 3-7) or power cycle the drive. For the drive speed reference and Datalink parameter values and the adapter setup parameter values, see Drive and Adapter Parameter Settings on page Use RSNetWorx for ControlNet Software to Configure the I/O and Save It to the 1747-SCNR Scanner To establish an I/O configuration that can be used between the controller and drive over a ControlNet network, you must first create an I/O image for the SLC 500 controller s 1747-SCNR scanner. 1. Start RSNetWorx for ControlNet software. 2. In the RSNetWorx for ControlNet window, select File > New to display the New File screen. 3. Select ControlNet Configuration as the network configuration type. 4. Click OK.

68 4-32 Configuring the I/O 5. Select Network > Online to display the Browse for Network screen. 6. Expand the communication path from your computer to the 1747-SCNR scanner. The following screen shows our example navigating to devices that are on a ControlNet network. Depending on the communication link you are using, the navigation path may be different. 7. After selecting a valid path to the ControlNet network (for this example, ControlNet, ControlNet), click OK.

69 Configuring the I/O 4-33 As the selected ControlNet path is browsed, RSNetWorx for ControlNet software creates a graph view window that shows a graphical representation of the devices on the network. If the icon for the drive (for this example, PowerFlex 70 EC) on the network appears as Unrecognized Device, you must download the EDS file for that PowerFlex drive from the Rockwell Automation website. a. Go to the website eds. b. On the website search screen in the Network entry field, enter the type of network (for this example, ControlNet), which enables the use of the other search fields. c. In the Keyword entry field, enter the type of PowerFlex drive (for this example, PowerFlex 70EC), noting that this field is space sensitive. d. Click Search. Due to the large number of EDS files, this search may take seconds or up to several minutes. e. On the search results screen in the Details & Download Column, click the Download hyperlink for the EDS file. f. Click Save on the File Download screen to save the EDS file to an appropriate location on your computer. g. Launch the EDS Hardware Installation Tool by clicking the Microsoft Windows Start button and selecting Programs > Rockwell Software > RSLinx Tools > EDS Hardware Installation Tool. Follow the screen prompts to add the EDS file for use with your project.

70 4-34 Configuring the I/O h. Reboot the computer and repeat steps 1 through 7 at the beginning of this subsection. The Unrecognized Device icon in the RSNetWorx for ControlNet graph view window in step 7 should have been replaced by a drive icon (for this example, the icon for a PowerFlex 70 EC drive). 8. Select Network > Enable Edits or check the Edits Enabled box in the RSNetWorx for ControlNet project window. If the 1747-SCNR scanner has a different I/O configuration than the configuration now being saved, the Online/Offline mismatch dialog box will appear. a. When both Options choices are available, click Use offline data (download). When this choice is dimmed (grayed out), you must click Use online data (upload). b. Click OK. TIP: If a message box reports that the download cannot be completed because the controller is not in Program mode, click Change Mode to place the controller in Remote Run mode and continue the download. 9. In the RSNetWorx for ControlNet graph view window, right-click the 1747-SCNR icon and choose Scanlist Configuration to display the Scanlist Configuration screen.

71 Configuring the I/O Right-click the PowerFlex 70 EC drive row in the screen and select Insert Connection to display the Connection Properties screen. Logic Command/ Status a. In this screen, leave the Connection Name box at the default value shown. b. For the Requested Packet Interval box, choose a value that is suitable for your application, but is at least 5 ms. c. For the Input Size and Output Size boxes, use the pull-down menu to choose the number of words that are required for your I/O. The size will depend on the I/O that you enabled in the adapter using Parameter 13 - [DPI I/O Cfg]. For this example, an Input Size of 12 and an Output Size of 10 are selected. Depending on the size of the drive s Reference/Feedback and the number of Datalinks used in your I/O configuration, Table 4.G, Table 4.H, or Table 4.I defines the number of 16-bit words that you need to enter for the Input Size and Output Size boxes. Table 4.G Drives with 16-bit Reference/Feedback and 16-bit Datalinks These products include the following: PowerFlex 70 drives with standard or enhanced control PowerFlex 700 drives with standard control PowerFlex 700H drives Ref/Fdbk (16-bit) Datalinks (16-bit) User Configured Settings SMC Flex smart motor controllers SMC-50 smart motor controllers A B C D Size in Words Par Par [DPI I/O Cfg] [M-S Input] Input Output Par [M-S Output]

72 4-36 Configuring the I/O Logic Command/ Status Table 4.H Drives with 16-bit Reference/Feedback and 32-bit Datalinks These products include the following: PowerFlex 700 drives with vector control PowerFlex Digital DC drives PowerFlex 700L drives with 700 control Ref/Fdbk (16-bit) Datalinks (32-bit) User Configured Settings A B C D Size in Words Par Par [DPI I/O Cfg] [M-S Input] Input Output Logic Command/ Status Table 4.I Drives with 32-bit Reference/Feedback and 32-bit Datalinks These products include the following: PowerFlex 700S drives with Phase I or Phase II control PowerFlex 753 drives PowerFlex 700L drives with 700S control PowerFlex 755 drives Ref/Fdbk (32-bit) Datalinks (32-bit) User Configured Settings Par [M-S Output] A B C D Size in Words Par Par [DPI I/O Cfg] [M-S Input] Input Output Par [M-S Output] 11. Because N files are used in Using the I/O, Chapter 5 and memory files cannot be used for 32-bit REAL (floating point) data, the default Input Address M1:e.3 and Output Address M0:e.3 will need to be converted later using COP instructions in the ladder logic program. For now, leave these address fields at their defaults, and click OK. An address row (in blue text) will be added below the PowerFlex 70 EC drive row. 12. Select File > Save to save the I/O configuration file to the 1747-SCNR scanner. The Save Configuration dialog box appears. TIP: When both Save Type choices are available, we recommend to click the Optimize and re-write schedule for all connections.

73 Configuring the I/O Click OK to download the I/O configuration to the scanner. A warning will appear about communication and I/O disruption on the network. 14. Click Yes. If this is the first time that you saved the project, the Save As dialog box appears. a. Navigate to a folder. b. Type a file name. c. Click Save to save the configuration as a file on your computer.

74 4-38 Configuring the I/O Notes:

75 Chapter 5 Using the I/O This chapter provides information and examples that explain how to control, configure, and monitor a PowerFlex 7-Class drive using the configured I/O. Topic Page About I/O Messaging 5-1 Understanding the I/O Image 5-2 Using Logic Command/Status 5-8 Using Reference/Feedback 5-8 Using Datalinks 5-11 Example Ladder Logic Program Information 5-13 ControlLogix Controller Example 5-14 PLC-5 Controller Example 5-23 SLC 500 Controller Example 5-38! ATTENTION: Risk of injury or equipment damage exists. The examples in this publication are intended solely for purposes of example. There are many variables and requirements with any application. Rockwell Automation does not assume responsibility or liability (to include intellectual property liability) for actual use of the examples shown in this publication. About I/O Messaging On CIP-based networks, including ControlNet, I/O connections are used to transfer the data which controls the PowerFlex drive and sets its Reference. I/O can also be used to transfer data to and from Datalinks in PowerFlex 7-Class drives. The adapter provides many options for configuring and using I/O, including the following: Configuring the size of I/O by enabling or disabling the Logic Command/Reference and Datalinks Setting a Master-Slave hierarchy Chapter 3, Configuring the Adapter, and Chapter 4, Configuring the I/O, discuss how to configure the adapter and controller on the network for these options. The defines the different options. This chapter discusses how to use I/O after you have configured the adapter and controller.

76 5-2 Using the I/O Understanding the I/O Image The terms input and output are defined from the controller s point of view. Therefore, output I/O is data that is produced by the controller and consumed by the adapter. Input I/O is status data that is produced by the adapter and consumed as input by the controller. The I/O image will vary based on the following: Size (either 16-bit or 32-bit) of the Reference/Feedback words and Datalink words used by the drive. To determine the size of the Reference/Feedback and Datalinks, view adapter Parameters 07 - [Ref/ Fdbk Size] and 08 - [Datalink Size]. For information to access parameters, see Using the PowerFlex 7-Class HIM to Access Parameters on page 3-2. Configuration of I/O (Parameter 13 - [DPI I/O Cfg]). If all I/O is not enabled, the image is truncated. The image always uses consecutive words starting at word 0. ControlLogix/CompactLogix Controllers only The drive profile used in RSLogix 5000 software (drive Add-on Profile in version or later, Classic Profile in versions , or Generic Profile in all versions). ControlLogix Controller Image Because the drive Add-on Profile in RSLogix 5000 software, version or later, and the Classic Profile, versions , provide descriptive controller tags, the I/O image (tag size and location) is automatically configured based on the drive being used. When using the Generic Profile (page 4-18) in RSLogix 5000 software, however, controller tags are not descriptive or defined. The ControlLogix controller I/O image changes depending on the size of the drive s Reference/Feedback and Datalinks, and the number of Datalinks used. Table 5.A, Table 5.B, and Table 5.C show the I/O image when using various PowerFlex drives, and all Datalinks enabled.

77 Using the I/O 5-3 Table 5.A ControlLogix Controller I/O Image for Drives with 16-bit Reference/ Feedback and 16-bit Datalinks Using Generic Profile These products include the following: PowerFlex 70 drives with standard or enhanced control PowerFlex 700 drives with standard control PowerFlex 700H drives Word Output I/O Word Input I/O 0 Logic Command 0 Pad Word 1 Reference 1 Pad Word 2 Datalink In A1 2 Logic Status 3 Datalink In A2 3 Feedback 4 Datalink In B1 4 Datalink Out A1 5 Datalink In B2 5 Datalink Out A2 6 Datalink In C1 6 Datalink Out B1 7 Datalink In C2 7 Datalink Out B2 8 Datalink In D1 8 Datalink Out C1 9 Datalink In D2 9 Datalink Out C2 10 Datalink Out D1 11 Datalink Out D2 Table 5.B ControlLogix Controller I/O Image for Drives with 16-bit Reference/ Feedback and 32-bit Datalinks Using Generic Profile These products include the following: PowerFlex 700 drives with vector control PowerFlex 700L drives with 700 control SMC Flex smart motor controllers SMC-50 smart motor controllers PowerFlex Digital DC drives Word Output I/O Word Input I/O 0 Logic Command 0 Pad Word 1 Reference 1 Pad Word 2 Datalink In A1 (LSW) 2 Logic Status 3 Datalink In A1 (MSW) 3 Feedback 4 Datalink In A2 (LSW) 4 Datalink Out A1 (LSW) 5 Datalink In A2 (MSW) 5 Datalink Out A1 (MSW) 6 Datalink In B1 (LSW) 6 Datalink Out A2 (LSW) 7 Datalink In B1 (MSW) 7 Datalink Out A2 (MSW) 8 Datalink In B2 (LSW) 8 Datalink Out B1 (LSW) 9 Datalink In B2 (MSW) 9 Datalink Out B1 (MSW) 10 Datalink In C1 (LSW) 10 Datalink Out B2 (LSW) 11 Datalink In C1 (MSW) 11 Datalink Out B2 (MSW) 12 Datalink In C2 (LSW) 12 Datalink Out C1 (LSW) 13 Datalink In C2 (MSW) 13 Datalink Out C1 (MSW) 14 Datalink In D1 (LSW) 14 Datalink Out C2 (LSW) 15 Datalink In D1 (MSW) 15 Datalink Out C2 (MSW) 16 Datalink In D2 (LSW) 16 Datalink Out D1 (LSW) 17 Datalink In D2 (MSW) 17 Datalink Out D1 (MSW) 18 Datalink Out D2 (LSW) 19 Datalink Out D2 (MSW)

78 5-4 Using the I/O Table 5.C ControlLogix Controller I/O Image for Drives with 32-bit Reference/ Feedback and 32-bit Datalinks Using Generic Profile These products include the following: PowerFlex 700S drives with Phase I or Phase II control PowerFlex 700L drives with 700S control PowerFlex 753 drives PowerFlex 755 drives Word Output I/O Word Input I/O 0 Logic Command 0 Pad Word 1 Not Used 1 Pad Word 2 Reference (LSW) 2 Logic Status 3 Reference (MSW) 3 Not Used 4 Datalink In A1 (LSW) 4 Feedback (LSW) 5 Datalink In A1 (MSW) 5 Feedback (MSW) 6 Datalink In A2 (LSW) 6 Datalink Out A1 (LSW) 7 Datalink In A2 (MSW) 7 Datalink Out A1 (MSW) 8 Datalink In B1 (LSW) 8 Datalink Out A2 (LSW) 9 Datalink In B1 (MSW) 9 Datalink Out A2 (MSW) 10 Datalink In B2 (LSW) 10 Datalink Out B1 (LSW) 11 Datalink In B2 (MSW) 11 Datalink Out B1 (MSW) 12 Datalink In C1 (LSW) 12 Datalink Out B2 (LSW) 13 Datalink In C1 (MSW) 13 Datalink Out B2 (MSW) 14 Datalink In C2 (LSW) 14 Datalink Out C1 (LSW) 15 Datalink In C2 (MSW) 15 Datalink Out C1 (MSW) 16 Datalink In D1 (LSW) 16 Datalink Out C2 (LSW) 17 Datalink In D1 (MSW) 17 Datalink Out C2 (MSW) 18 Datalink In D2 (LSW) 18 Datalink Out D1 (LSW) 19 Datalink In D2 (MSW) 19 Datalink Out D1 (MSW) 20 Datalink Out D2 (LSW) 21 Datalink Out D2 (MSW) PLC-5 Controller Image The I/O image for the PLC-5 controller changes depending on the size of the drive s Reference/Feedback and Datalinks, and the number of Datalinks used. Table 5.D, Table 5.E, and Table 5.F show the I/O image when using various PowerFlex drives, and all Datalinks enabled.

79 Using the I/O 5-5 Table 5.D PLC-5 Controller I/O Image for Drives with 16-bit Reference/Feedback and 16-bit Datalinks These products include the following: PowerFlex 70 drives with standard or enhanced control PowerFlex 700 drives with standard control PowerFlex 700H drives Word Output I/O Word Input I/O 0 Logic Command 0 Logic Status 1 Reference 1 Feedback 2 Datalink In A1 2 Datalink Out A1 3 Datalink In A2 3 Datalink Out A2 4 Datalink In B1 4 Datalink Out B1 5 Datalink In B2 5 Datalink Out B2 6 Datalink In C1 6 Datalink Out C1 7 Datalink In C2 7 Datalink Out C2 8 Datalink In D1 8 Datalink Out D1 9 Datalink In D2 9 Datalink Out D2 Table 5.E PLC-5 Controller I/O Image for Drives with 16-bit Reference/Feedback and 32-bit Datalinks These products include the following: PowerFlex 700 drives with vector control PowerFlex 700L drives with 700 control SMC Flex smart motor controllers SMC-50 smart motor controllers PowerFlex Digital DC drives Word Output I/O Word Input I/O 0 Logic Command 0 Logic Status 1 Reference 1 Feedback 2 Datalink In A1 (LSW) 2 Datalink Out A1 (LSW) 3 Datalink In A1 (MSW) 3 Datalink Out A1 (MSW) 4 Datalink In A2 (LSW) 4 Datalink Out A2 (LSW) 5 Datalink In A2 (MSW) 5 Datalink Out A2 (MSW) 6 Datalink In B1 (LSW) 6 Datalink Out B1 (LSW) 7 Datalink In B1 (MSW) 7 Datalink Out B1 (MSW) 8 Datalink In B2 (LSW) 8 Datalink Out B2 (LSW) 9 Datalink In B2 (MSW) 9 Datalink Out B2 (MSW) 10 Datalink In C1 (LSW) 10 Datalink Out C1 (LSW) 11 Datalink In C1 (MSW) 11 Datalink Out C1 (MSW) 12 Datalink In C2 (LSW) 12 Datalink Out C2 (LSW) 13 Datalink In C2 (MSW) 13 Datalink Out C2 (MSW) 14 Datalink In D1 (LSW) 14 Datalink Out D1 (LSW) 15 Datalink In D1 (MSW) 15 Datalink Out D1 (MSW) 16 Datalink In D2 (LSW) 16 Datalink Out D2 (LSW) 17 Datalink In D2 (MSW) 17 Datalink Out D2 (MSW)

80 5-6 Using the I/O Table 5.F PLC-5 Controller I/O Image for Drives with 32-bit Reference/Feedback and 32-bit Datalinks These products include the following: PowerFlex 700S drives with Phase I or Phase II control PowerFlex 700L drives with 700S control PowerFlex 753 drives PowerFlex 755 drives Word Output I/O Word Input I/O 0 Logic Command 0 Logic Status 1 Not Used 1 Not Used 2 Reference (LSW) 2 Feedback (LSW) 3 Reference (MSW) 3 Feedback (MSW) 4 Datalink In A1 (LSW) 4 Datalink Out A1 (LSW) 5 Datalink In A1 (MSW) 5 Datalink Out A1 (MSW) 6 Datalink In A2 (LSW) 6 Datalink Out A2 (LSW) 7 Datalink In A2 (MSW) 7 Datalink Out A2 (MSW) 8 Datalink In B1 (LSW) 8 Datalink Out B1 (LSW) 9 Datalink In B1 (MSW) 9 Datalink Out B1 (MSW) 10 Datalink In B2 (LSW) 10 Datalink Out B2 (LSW) 11 Datalink In B2 (MSW) 11 Datalink Out B2 (MSW) 12 Datalink In C1 (LSW) 12 Datalink Out C1 (LSW) 13 Datalink In C1 (MSW) 13 Datalink Out C1 (MSW) 14 Datalink In C2 (LSW) 14 Datalink Out C2 (LSW) 15 Datalink In C2 (MSW) 15 Datalink Out C2 (MSW) 16 Datalink In D1 (LSW) 16 Datalink Out D1 (LSW) 17 Datalink In D1 (MSW) 17 Datalink Out D1 (MSW) 18 Datalink In D2 (LSW) 18 Datalink Out D2 (LSW) 19 Datalink In D2 (MSW) 19 Datalink Out D2 (MSW) SLC 500 Controller Image The I/O image for the SLC 500 controller changes depending on the size of the drive s Reference/Feedback and Datalinks, and the number of Datalinks used. Table 5.G, Table 5.H, and Table 5.I show the I/O image when using various PowerFlex drives, and all Datalinks enabled.

81 Using the I/O 5-7 Table 5.G SLC 500 Controller I/O Image for Drives with 16-bit Reference/Feedback and 16-bit Datalinks These products include the following: PowerFlex 70 drives with standard or enhanced control PowerFlex 700 drives with standard control PowerFlex 700H drives Word Output I/O Word Input I/O 0 Logic Command 0 Pad Word 1 Reference 1 Pad Word 2 Datalink In A1 2 Logic Status 3 Datalink In A2 3 Feedback 4 Datalink In B1 4 Datalink Out A1 5 Datalink In B2 5 Datalink Out A2 6 Datalink In C1 6 Datalink Out B1 7 Datalink In C2 7 Datalink Out B2 8 Datalink In D1 8 Datalink Out C1 9 Datalink In D2 9 Datalink Out C2 10 Datalink Out D1 11 Datalink Out D2 Table 5.H SLC 500 Controller I/O Image for Drives with 16-bit Reference/Feedback and 32-bit Datalinks These products include the following: PowerFlex 700 drives with vector control PowerFlex 700L drives with 700 control SMC Flex smart motor controllers SMC-50 smart motor controllers PowerFlex Digital DC drives Word Output I/O Word Input I/O 0 Logic Command 0 Pad Word 1 Reference 1 Pad Word 2 Datalink In A1 (LSW) 2 Logic Status 3 Datalink In A1 (MSW) 3 Feedback 4 Datalink In A2 (LSW) 4 Datalink Out A1 (LSW) 5 Datalink In A2 (MSW) 5 Datalink Out A1 (MSW) 6 Datalink In B1 (LSW) 6 Datalink Out A2 (LSW) 7 Datalink In B1 (MSW) 7 Datalink Out A2 (MSW) 8 Datalink In B2 (LSW) 8 Datalink Out B1 (LSW) 9 Datalink In B2 (MSW) 9 Datalink Out B1 (MSW) 10 Datalink In C1 (LSW) 10 Datalink Out B2 (LSW) 11 Datalink In C1 (MSW) 11 Datalink Out B2 (MSW) 12 Datalink In C2 (LSW) 12 Datalink Out C1 (LSW) 13 Datalink In C2 (MSW) 13 Datalink Out C1 (MSW) 14 Datalink In D1 (LSW) 14 Datalink Out C2 (LSW) 15 Datalink In D1 (MSW) 15 Datalink Out C2 (MSW) 16 Datalink In D2 (LSW) 16 Datalink Out D1 (LSW) 17 Datalink In D2 (MSW) 17 Datalink Out D1 (MSW) 18 Datalink Out D2 (LSW) 19 Datalink Out D2 (MSW)

82 5-8 Using the I/O Table 5.I SLC 500 Controller I/O Image for Drives with 32-bit Reference/Feedback and 32-bit Datalinks These products include the following: PowerFlex 700S drives with Phase I or Phase II control PowerFlex 700L drives with 700S control PowerFlex 753 drives PowerFlex 755 drives Word Output I/O Word Input I/O 0 Logic Command 0 Pad Word 1 Not Used 1 Pad Word 2 Reference (LSW) 2 Logic Status 3 Reference (MSW) 3 Not Used 4 Datalink In A1 (LSW) 4 Feedback (LSW) 5 Datalink In A1 (MSW) 5 Feedback (MSW) 6 Datalink In A2 (LSW) 6 Datalink Out A1 (LSW) 7 Datalink In A2 (MSW) 7 Datalink Out A1 (MSW) 8 Datalink In B1 (LSW) 8 Datalink Out A2 (LSW) 9 Datalink In B1 (MSW) 9 Datalink Out A2 (MSW) 10 Datalink In B2 (LSW) 10 Datalink Out B1 (LSW) 11 Datalink In B2 (MSW) 11 Datalink Out B1 (MSW) 12 Datalink In C1 (LSW) 12 Datalink Out B2 (LSW) 13 Datalink In C1 (MSW) 13 Datalink Out B2 (MSW) 14 Datalink In C2 (LSW) 14 Datalink Out C1 (LSW) 15 Datalink In C2 (MSW) 15 Datalink Out C1 (MSW) 16 Datalink In D1 (LSW) 16 Datalink Out C2 (LSW) 17 Datalink In D1 (MSW) 17 Datalink Out C2 (MSW) 18 Datalink In D2 (LSW) 18 Datalink Out D1 (LSW) 19 Datalink In D2 (MSW) 19 Datalink Out D1 (MSW) 20 Datalink Out D2 (LSW) 21 Datalink Out D2 (MSW) Using Logic Command/ Status The Logic Command is a 16-bit word of control data produced by the controller and consumed by the adapter. The Logic Status is a 16-bit word of status data produced by the adapter and consumed by the controller. PowerFlex 750-Series drives have a 32-bit Logic Command/Status but when using a 20-COMM-C or 20-COMM-Q adapter only the first 16 bits can be used. This manual contains the bit definitions for most compatible products available at the time of publication in Appendix D, Logic Command/Status Words. For other products, see their documentation. Using Reference/Feedback The Reference is produced by the controller and consumed by the adapter. The Feedback is produced by the adapter and consumed by the controller. The size of the Reference/Feedback is determined by the drive and can be displayed with adapter Parameter 07 - [Ref/Fdbk Size]. Size Valid Values 16-bit to bit to

83 Using the I/O 5-9 When the Reference and Feedback are enabled, and a ControlLogix controller with a drive Add-on Profile or Classic Profile is used, specific controller tags are automatically created, sized (16-bit or 32-bit), and placed in the I/O image. PowerFlex 70/700/700H and PowerFlex 700L Drives with 700 Control The Reference/Feedback value is a scaled engineering value; it is not in Hertz or RPM. The Reference uses a scale. The endpoint of the scale is equal to the value of drive parameter 55 - [Maximum Freq], which has a default value of 130 Hz. For these drives, default scaling is which is equal to Hz. This is based on the formula shown below. Reference/Feedback scaling is limited by drive parameter 82 - [Maximum Speed]. If the default value of 60 Hz. for parameter 82 - [Maximum Speed] is changed, the speed Reference/Feedback scaling also changes. To determine Reference/Feedback scaling, use the following formula: (Parameter 82 Parameter 55) * = Scaling Using drive parameter 82 and 55 default values, speed Reference/Feedback scaling is: Therefore, = Hz. (60 Hz 130 Hz) * = If parameter 82 - [Maximum Speed] is changed to 90 Hz, then: Therefore, = Hz. (90 Hz 130 Hz) * = A graphic representation of this Reference/Feedback scaling is shown below. Par [Maximum Freq] 130 Hz 90 Hz 60 Hz 0 Hz 0 Par [Maximum Speed] Scaling = (Parameter 82 Parameter 55) * For PowerFlex 70 drives with enhanced control, firmware 2.xxx or later, or PowerFlex 700 drives with vector control, firmware 3.xxx or later, drive parameter [DPI Ref Select] was added to simplify scaling for the speed Reference/Feedback. When drive parameter [DPI Ref Select] is set to its default 0 (Max Freq), the speed Reference/Feedback scaling is as shown above. However, when parameter [DPI Ref Select] is set to 1 (Max Speed), the speed Reference/Feedback scaling is equal to parameter 82 - [Max Speed]: Parameter 82 = Scaling Using the parameter 82 default value, speed Reference/Feedback scaling is: = Hz.

84 5-10 Using the I/O If parameter 82 - [Maximum Speed] is changed to 90 Hz, then: 90 Hz = Speed Feedback uses the same scaling as the speed Reference. TIP: For PowerFlex 700 drives with vector control, firmware 3.xxx or later, parameter [DPI Fdbk Select] enables you to select the feedback data coming from the drive over DPI. The default is Speed Fdbk in Hz or RPM determined by parameter [Speed Units]. The data selection for parameter 299 is also displayed on the 1st line of the HIM and on DriveExplorer and DriveExecutive software screens in the drive status area of the screen. PowerFlex 700S and PowerFlex 700L Drives with 700S Control The Reference/Feedback value is: = Base Motor Speed The base speed is set using drive parameter 4 - [Motor RPM]. To set a speed Reference/Feedback above base speed, a value greater than must be entered. For 16-bit processors, such as PLC-5 and SLC 500 controllers, the data requires manipulation to set a speed Reference above or below Please see the PowerFlex 700S AC Drives Phase II Control Reference Manual, publication PFLEX-RM003, in the Chapter 1 Communications section. Then go to the PLC 5 or SLC System subsection and see the Reference/Feedback Programming sub-subsection. PowerFlex 753/755 Drives The Reference/Feedback value is Hz x 1000 or RPM x Drive parameter [Speed Units] determines whether the scaling is Hz or RPM. The default scaling is Hz, where 0 60,000 equates to Hz. When parameter 300 is set to RPM, then 0 1,765,000 equates to RPM. For 16-bit processors, such as PLC-5 and SLC 500 controllers, the data requires manipulation to set a speed Reference above or below Please see the PowerFlex 700S AC Drives Phase II Control Reference Manual, publication PFLEX-RM003, in the Chapter 1 Communications section. Then go to the PLC 5 or SLC System subsection and see the Reference/Feedback Programming sub-subsection.

85 Using the I/O 5-11 PowerFlex Digital DC Drives The Reference/Feedback value is: = Maximum Reference Speed The maximum Reference speed is set using drive parameter 45 - [Max Ref Speed]. Using Datalinks A Datalink is a mechanism used by PowerFlex drives to transfer data to and from the controller. Datalinks allow a drive parameter value to be read or written without using an Explicit Message. When enabled, each Datalink occupies two 16-bit or 32-bit words in both the input and output image. Use adapter Parameter 08 - [Datalink Size] to determine whether the drive uses 16-bit or 32-bit words for Datalinks. Rules for Using Datalinks Each set of Datalink parameters in a PowerFlex drive can be used by only one adapter. If more than one adapter is connected to a single drive, multiple adapters cannot use the same Datalink. Parameter settings in the drive determine the data passed through the Datalink mechanism. See the documentation for your drive. When you use a Datalink to change a value, the value is not written to the Nonvolatile Storage (NVS) memory. The value is stored in volatile memory and lost when the drive loses power. Thus, use Datalinks when you need to change a value of a parameter frequently. Datalink Scaling PowerFlex 70/700/700H Drives and PowerFlex 700L Drives with 700 Control When using RSLogix 5000 software, version or later, Datalink scaling is done automatically. However, when using RSLogix 5000 software, version or earlier or when using a PLC-5 or SLC 500 controller Datalink scaling is not automatic and uses whole numbers (INTs or DINTs). See the drive documentation to determine the unit resolution for the associated parameter Datalink. For example, PowerFlex 700VC drive parameter 3 - [Output Current] has a 0.1 unit resolution. Because Datalink scaling uses whole numbers, the Output Current value is multiplied by 10 in the adapter and then sent over the network. Suppose the actual Output Current value is 35.5 amps. Reading the associated parameter Datalink received by the controller, the value would be 355. By using ladder logic, divide the value by 10 in the controller to get the correct scaling. See the drive documentation to determine if the Datalink parameter is a 16-bit or 32-bit parameter.

86 5-12 Using the I/O PowerFlex 700S, PowerFlex 700L with 700S Control, PowerFlex 753/755, and PowerFlex Digital DC Drives When using RSLogix 5000 software, version or later, Datalink scaling is done automatically. However, when using RSLogix 5000 software, version or earlier or when using a PLC-5 or SLC 500 controller Datalinks require scaling in the following way. Parameters are either 16-bit or 32-bit integers or REALs. When the parameter is a 32-bit integer, the data needs to be copied using a COP command to a DINT tag. (Because PLC-5 and SLC 500 controllers do not support 32-bit integers, the data must be separated into two 16-bit integers.) When the parameter is a REAL, the data needs to be copied using a COP command to a REAL tag. See subsequent sections in this chapter for ladder logic examples. See the drive documentation to determine if the Datalink parameter is a 16-bit or 32-bit integer parameter, or a REAL parameter. Using 16-Bit Datalinks to Read/Write 32-Bit Parameters This subsection only pertains to PowerFlex 70 (standard or enhanced control), PowerFlex 700 (standard control), and PowerFlex 700H drives which use 16-bit Datalinks. To read or write a 32-bit parameter using 16-bit Datalinks, typically both Datalinks of a pair (A, B, C, D) are set to the same 32-bit parameter. For example, to read parameter 10 - [Elapsed Run Time] in a PowerFlex 70 drive, both Datalink A1 Out (Parameter 310) and Datalink A2 Out (Parameter 311) are set to 10. Datalink A1 Out will contain the least significant word (LSW) and Datalink A2 Out will contain the most significant word (MSW). 32-bit data is stored in binary as follows: MSW 2 31 through 2 16 LSW 2 15 through 2 0 In this example, the parameter 10 - [Elapsed Run Time] value of Hrs is read as in Datalink A1 Out (Parameter 310) and Datalink A2 Out (Parameter 311). Datalink Word Parameter Data (Hex) A1 Out LSW A2 Out MSW Conversion Example: Parameter [Elapsed Run Time] = Hrs MSW = 0001 hex = 0001 binary = 2 16 = LSW = 0003 hex =3 Engineering Value = = Parameter 10 Displayed Value = Hrs

87 Using the I/O 5-13 Regardless of the Datalink combination, Datalink x1 Out will always contain the LSW and Datalink x2 Out will always contain the MSW. In the following example, the PowerFlex 70 drive parameter [Power Up Marker] contains a value of hours. Datalink Word Parameter Data (Hex) A2 Out MSW D B1 Out LSW 242 7F3D Conversion Example: Parameter [Power Up Marker] = hours MSW = 000D hex = 1101 binary = = LSW = 7F3D hex = Engineering Value = = Parameter 242 Displayed Value = Hrs Example Ladder Logic Program Information The example ladder logic programs in the sections of this chapter are intended for and operate PowerFlex 7-Class drives. Functions of the Example Programs The example programs enable you to do the following: Receive Logic Status information from the drive. Send a Logic Command to control the drive (for example, start, stop). Send a Reference to the drive and receive Feedback from the drive. Send/receive Datalink data to/from the drive. Logic Command/Status Words These examples use the Logic Command word and Logic Status word for PowerFlex 70/700 drives. Information for PowerFlex 750-Series drives has been added to examples where applicable. See Appendix D to view details. The definition of the bits in these words may vary if you are using a different DPI drive. See the documentation for your drive.

88 5-14 Using the I/O ControlLogix Controller Example You can use any of RSLogix 5000 software versions to create the ladder logic. These are described in separate sections below. If your version of RSLogix 5000 software supports drive Add-on Profiles, we recommend that you use this method. Creating Ladder Logic Using the RSLogix 5000 Drive Add-on Profiles, Version or Later Because the drive Add-on Profile automatically created descriptive controller tags (Figure 4.2) for the entire I/O image in Chapter 4, you can use these tags to directly control and monitor the drive without creating any ladder logic program. However, if you intend to use Human Machine Interface devices (PanelView, and so forth) to operate the drive and view its status, you will need to create descriptive user-defined Program tags (Figure 5.1) and a ladder logic program that will pass the Controller tag data to the Program tags. Figure 5.1 ControlLogix Program Tags for Drive Add-on Profile Ladder Logic Program Example An example ladder logic program that uses the automatically-created descriptive Controller tags and passes their data to the user-defined Program tags is shown in Figure 5.2 and Figure 5.3. Note that the prefix for the drive Controller tags is determined by the name assigned when configuring the I/O (Chapter 4). Depending on the drive being used, see one of the following subsections for information on speed Reference and Feedback scaling. Subsection Page PowerFlex 70/700/700H and PowerFlex 700L Drives with 700 Control 5-9 PowerFlex 700S and PowerFlex 700L Drives with 700S Control 5-10 PowerFlex 753/755 Drives 5-10 PowerFlex Digital DC Drives 5-11

89 Using the I/O 5-15 Figure 5.2 ControlLogix Example Ladder Logic Program Using a Drive Add-on Profile for Logic Status/Feedback Figure 5.3 ControlLogix Example Ladder Logic Program Using a Drive Add-on Profile for Logic Command/Reference Creating Ladder Logic Using the RSLogix 5000 Classic Profile, Versions Because the RSLogix 5000 Classic Profile has been significantly improved upon by RSLogix 5000 drive Add-on Profiles, version or later, we recommend using the RSLogix 5000 drive Add-on Profiles to take advantage of their benefits (more intuitive, time saving, and less likely to make ladder logic program errors).

90 5-16 Using the I/O Creating Ladder Logic Using the RSLogix 5000 Generic Profile, All Versions Drive and Adapter Parameter Settings The following drive and adapter settings were used for the example ladder logic program in this section. Device Parameter Value Description PowerFlex 70 EC Drive PowerFlex 750-Series Drive (1) 20-COMM-C or 20-COMM-Q Adapter (1) 90 - [Speed Ref A Sel 22 (DPI Port 5) Assigns 20-COMM-C/-Q to be used for the Reference [Data In A1] 140 Points to Par [Accel Time 1] [Data In A2] 142 Points to Par [Decel Time 1] [Data In B1] 100 Points to Par [Jog Speed] [Data In B2] 155 Points to Par [Stop Mode A] [Data In C1] 101 Points to Par [Preset Speed 1] [Data In C2] 102 Points to Par [Preset Speed 2] [Data In D1] 103 Points to Par [Preset Speed 3] [Data In D2] 104 Points to Par [Preset Speed 4] [Data Out A1] 140 Points to Par [Accel Time 1] [Data Out A2] 142 Points to Par [Decel Time 1] [Data Out B1] 100 Points to Par [Jog Speed] [Data Out B2] 155 Points to Par [Stop Mode A] [Data Out C1] 101 Points to Par [Preset Speed 1] [Data Out C2] 102 Points to Par [Preset Speed 2] [Data Out D1] 103 Points to Par [Preset Speed 3] [Data Out D2] 104 Points to Par [Preset Speed 4] [Spd Ref A Sel] Port 0: Port 6 Reference Assigns 20-COMM-C/Q to be used for the Reference [Data In A1] Port 0: Accel Time 1 Points to Par. 535 in the drive [Data In A2] Port 0: Testpoint Sel 1 Points to Par. 970 in the drive [Data In B1] Port 5: Anlg Out1 Hi Points to Par. 90 in Port 5 (I/O module) [Data Out A1] Port 0: DC Bus Volts Points to Par. 11 in the drive [Data Out A2] Port 0: Open Loop Fdbk Points to Par. 137 in the drive [Data Out B1] Port 5: Anlg Out0 Data Points to Par. 77 in Port 5 (I/O module) [CN Addr Cfg] 2 Node address for the adapter [DPI I/O Cfg] xxx Enables Cmd/Ref and Datalinks A D [M-S Input] xxx Configures the I/O Data to be transferred from the controller on the network to the drive [M-S Output] xxx Configures the I/O Data to be transferred from the drive to the controller on the network. In this example, the 20-COMM-C or 20-COMM-Q adapter/ comm Communication Carrier Card is installed in Port 6, and a 24V I/O module is installed in Port 5. Also, Data In B2 D2 (Parameters ) and Data Out B2 D2 (Parameters ) are enabled, but not used. TIP: Data In parameters are inputs into the drive that come from controller outputs (for example, data to write to a drive parameter). Data Out parameters are outputs from the drive that go to controller inputs (for example, data to read a drive parameter).

91 Using the I/O 5-17 Controller Tags When you add the adapter and drive to the I/O configuration (Chapter 4), RSLogix 5000 software automatically creates generic (non-descriptive) controller tags for them. In this example program, the following controller tags are used. Figure 5.4 ControlLogix Controller Tags for Drive Generic Profile Example Ladder Logic Program You can expand the Input and Output tags to reveal the input and output configuration. Figure 5.5 ControlLogix Input Image for Drive Generic Profile Example Ladder Logic Program PowerFlex 70 Drive 16-bit Speed Feedback and Datalinks PowerFlex 750-Series Drive 32-bit Speed Feedback and Datalinks

92 5-18 Using the I/O Figure 5.6 ControlLogix Output Image for Drive Generic Profile Example Ladder Logic Program PowerFlex 70 Drive 16-bit Speed Reference and Datalinks PowerFlex 750-Series Drive 32-bit Speed Reference and Datalinks Program Tags To use the Controller tags that are automatically created, you need to create the following Program tags for this example program. Figure 5.7 ControlLogix Program Tags for Drive Generic Profile Example Ladder Logic Program

93 Using the I/O 5-19 Depending on the drive being used, see one of the following subsections for information on speed Reference and Feedback scaling. Subsection Page PowerFlex 70/700/700H and PowerFlex 700L Drives with 700 Control 5-9 PowerFlex 700S and PowerFlex 700L Drives with 700S Control 5-10 PowerFlex 753/755 Drives 5-10 PowerFlex Digital DC Drives 5-11 Figure 5.8 ControlLogix Example Ladder Logic Program Using a Drive Generic Profile for Logic Status/Feedback PowerFlex 70 and PowerFlex 750-Series Drives PowerFlex 70 Drive Speed Feedback PowerFlex 750-Series Drive Speed Feedback

94 5-20 Using the I/O Figure 5.9 ControlLogix Example Ladder Logic Program Using a Drive Generic Profile for Logic Command/Reference PowerFlex 70 and PowerFlex 750-Series Drives PowerFlex 70 Drive Speed Reference PowerFlex 750-Series Drive Speed Reference Example Datalink Data The Datalink data used in the example program is shown in Figure Note that to describe the parameters to which the Datalinks are assigned, you may want to add descriptions to the automatically-created generic controller tags or create a User Defined Data Types (UDDT).

95 Using the I/O 5-21 Figure 5.10 ControlLogix Example Datalinks for Ladder Logic Program Using a Drive Generic Profile PowerFlex 70 Drive PowerFlex 750-Series Drive For PowerFlex 7-Class drives, the scaling may need to be multiplied by 10 or 100, depending on the parameter. For more information, see Datalink Scaling on page 5-11.

96 5-22 Using the I/O TIP: When using a drive that has 16-bit Datalinks (PowerFlex 70, PowerFlex 700, and PowerFlex 700H drives) to transfer a 32-bit parameter, two contiguous drive Datalink parameters (for example, Data Out A1/A2, B1/B2, and so forth) are required. To determine if a parameter is a 32-bit parameter, see the Parameter section in the drive documentation and look 32 for a symbol in the No. column. (All parameters in PowerFlex 700 Series B drives are 32-bit parameters.) For example, parameter 3 - [Output Current] in a PowerFlex 70 EC drive is a 32-bit parameter. When using a drive that has 32-bit Datalinks (PowerFlex 700 VC, PowerFlex 700S, and PowerFlex 750-Series drives), only one drive Datalink parameter is required to transfer any parameter. Figure 5.11 ControlLogix Example Ladder Logic Program Using a Drive Generic Profile for PowerFlex 750-Series Drives Datalink Scaling For PowerFlex 750-Series drives, the destination tag can be a REAL or DINT. Make the destination tag the same data type as the parameter being read. For information on Datalink scaling, see page 5-12.

97 Using the I/O 5-23 PLC-5 Controller Example Creating an RSLogix 5 Project, Version 7.00 or Later To transmit (read and write) data between the controller and drive, you must create discrete I/O instructions in the controller for Logic Command/Status, Reference/Feedback, and Datalinks. 1. Start RSLogix 5 software. The RSLogix 5 window appears. 2. Select File > New to display the Select Processor Type screen. 3. Assign a name for the processor. 4. From the pull-down menus, choose the appropriate choices to match your PLC-5 controller and application. 5. Click OK. The Select ControlNet Project screen appears. 6. Click Browse and choose the RSNetWorx for ControlNet project file created in Chapter Enter the node address of the controller in the ControlNet Node field. 8. Click OK. The RSLogix 5 project window appears.

98 5-24 Using the I/O Drive and Adapter Parameter Settings The following drive and adapter settings were used for the example ladder logic program in this section. Device Parameter Value Description PowerFlex 70 EC Drive PowerFlex 750-Series Drive (1) 20-COMM-C or 20-COMM-Q Adapter 90 - [Speed Ref A Sel 22 (DPI Port 5) Assigns 20-COMM-C/-Q to be used for the Reference [Data In A1] 140 Points to Par [Accel Time 1] [Data In A2] 142 Points to Par [Decel Time 1] [Data In B1] 100 Points to Par [Jog Speed] [Data In B2] 155 Points to Par [Stop Mode A] [Data In C1] 101 Points to Par [Preset Speed 1] [Data In C2] 102 Points to Par [Preset Speed 2] [Data In D1] 103 Points to Par [Preset Speed 3] [Data In D2] 104 Points to Par [Preset Speed 4] [Data Out A1] 140 Points to Par [Accel Time 1] [Data Out A2] 142 Points to Par [Decel Time 1] [Data Out B1] 100 Points to Par [Jog Speed] [Data Out B2] 155 Points to Par [Stop Mode A] [Data Out C1] 101 Points to Par [Preset Speed 1] [Data Out C2] 102 Points to Par [Preset Speed 2] [Data Out D1] 103 Points to Par [Preset Speed 3] [Data Out D2] 104 Points to Par [Preset Speed 4] [Spd Ref A Sel] Port 0: Port 6 Reference Assigns 20-COMM-C/Q to be used for the Reference [Data In A1] Port 0: Accel Time 1 Points to Par. 535 in the drive [Data In A2] Port 0: Testpoint Sel 1 Points to Par. 970 in the drive [Data In B1] Port 5: Anlg Out1 Hi Points to Par. 90 in Port 5 (I/O module) [Data Out A1] Port 0: DC Bus Volts Points to Par. 11 in the drive [Data Out A2] Port 0: Open Loop Fdbk Points to Par. 137 in the drive [Data Out B1] Port 5: Anlg Out0 Data Points to Par. 77 in Port 5 (I/O module) [CN Addr Cfg] 2 Node address for the adapter [DPI I/O Cfg] xxx Enables Cmd/Ref and Datalinks A D [M-S Input] xxx Configures the I/O Data to be transferred from the controller on the network to the drive [M-S Output] xxx Configures the I/O Data to be transferred from the drive to the controller on the network. (1) In this example, the 20-COMM-C or 20-COMM-Q adapter/ comm Communication Carrier Card is installed in Port 6, and a 24V I/O module is installed in Port 5. Also, Data In B2 D2 (Parameters ) and Data Out B2 D2 (Parameters ) are enabled, but not used. TIP: Data In parameters are inputs into the drive that come from controller outputs (for example, data to write to a drive parameter). Data Out parameters are outputs from the drive that go to controller inputs (for example, data to read a drive parameter).

99 Using the I/O 5-25 TIP: When using a drive that has 16-bit Datalinks (PowerFlex 70, PowerFlex 700, and PowerFlex 700H drives) to transfer a 32-bit parameter, two contiguous drive Datalink parameters (for example, Data Out A1/A2, B1/B2, and so forth) are required. To determine if a parameter is a 32-bit parameter, see the Parameter section in the drive documentation and look 32 for a symbol in the No. column. (All parameters in PowerFlex 700 Series B drives are 32-bit parameters.) For example, parameter 3 - [Output Current] in a PowerFlex 70 EC drive is a 32-bit parameter. When using a drive that has 32-bit Datalinks (PowerFlex 700 VC, PowerFlex 700S, and PowerFlex 750-Series drives), only one drive Datalink parameter is required to transfer any parameter. Understanding PLC-5 Controller Data Table Addresses Because the PLC-5 controller is a 16-bit platform and is used with the 32-bit 20-COMM-C or 20-COMM-Q adapter, the data will be transposed from the least-significant word (LSW) to the most-significant word (MSW) in the controller. When the I/O was configured (Chapter 4), two available data table addresses (N9:0 for input data and N10:0 for output data) were used. Figure 5.12 shows the data file address structure for this example. Figure 5.12 Data File Table for Example Ladder Logic Program Depending on the drive, Table 5.J, Table 5.K, Table 5.L, Table 5.M, Table 5.N, or Table 5.O show the I/O definitions as they relate to the N9:0 and N10:0 data table addresses in Figure 5.12 being used in this example.

100 5-26 Using the I/O PowerFlex 70, PowerFlex 700 with Standard Control, and PowerFlex 700H Drives When using any of these products which all contain INT (16-bit format) data types you will read from and write to a single data table address in the controller. Table 5.J PLC-5 Data Table Addresses for: PowerFlex 70 Drives with Standard or Enhanced Control PowerFlex 700 Drives with Standard Control PowerFlex 700H Drives Data Table Address Description N9:0 Logic Status (see Appendix D) N9:1 Speed Feedback N9:2 Value of parameter assigned to Parameter 310 [Data Out A1] N9:3 Value of parameter assigned to Parameter 311 [Data Out A2] N9:4 Value of parameter assigned to Parameter 312 [Data Out B1] N9:5 Value of parameter assigned to Parameter 313 [Data Out B2] N9:6 Value of parameter assigned to Parameter 314 [Data Out C1] N9:7 Value of parameter assigned to Parameter 315 [Data Out C2] N9:8 Value of parameter assigned to Parameter 316 [Data Out D1] N9:9 Value of parameter assigned to Parameter 317 [Data Out D2] N10:0 Logic Command (see Appendix D) N10:1 Speed Reference N10:2 Value of parameter assigned to Parameter 300 [Data In A1] N10:3 Value of parameter assigned to Parameter 301 [Data In A2] N10:4 Value of parameter assigned to Parameter 302 [Data In B1] N10:5 Value of parameter assigned to Parameter 303 [Data In B2] N10:6 Value of parameter assigned to Parameter 304 [Data In C1] N10:7 Value of parameter assigned to Parameter 305 [Data In C2] N10:8 Value of parameter assigned to Parameter 306 [Data In D1] N10:9 Value of parameter assigned to Parameter 307 [Data In D2]

101 Using the I/O 5-27 PowerFlex 700 Drives with Vector Control and PowerFlex 700L Drives with 700 Control When using these drives, which contain DINT (32-bit format) data types, you will read from and write to the LSW data table address in the controller. Table 5.K PLC-5 Data Table Addresses for: PowerFlex 700 Drives with Vector Control PowerFlex 700L Drives with 700 Control Data Table Address Description N9:0 Logic Status (see Appendix D) N9:1 Speed Feedback N9:2 Value of parameter assigned to Parameter 310 [Data Out A1] LSW N9:3 Value of parameter assigned to Parameter 310 [Data Out A1] MSW N9:4 Value of parameter assigned to Parameter 311 [Data Out A2] LSW N9:5 Value of parameter assigned to Parameter 311 [Data Out A2] MSW N9:6 Value of parameter assigned to Parameter 312 [Data Out B1] LSW N9:7 Value of parameter assigned to Parameter 312 [Data Out B1] MSW N9:8 Value of parameter assigned to Parameter 313 [Data Out B2] LSW N9:9 Value of parameter assigned to Parameter 313 [Data Out B2] MSW N9:10 Value of parameter assigned to Parameter 314 [Data Out C1] LSW N9:11 Value of parameter assigned to Parameter 314 [Data Out C1] MSW N9:12 Value of parameter assigned to Parameter 315 [Data Out C2] LSW N9:13 Value of parameter assigned to Parameter 315 [Data Out C2] MSW N9:14 Value of parameter assigned to Parameter 316 [Data Out D1] LSW N9:15 Value of parameter assigned to Parameter 316 [Data Out D1] MSW N9:16 Value of parameter assigned to Parameter 317 [Data Out D2] LSW N9:17 Value of parameter assigned to Parameter 317 [Data Out D2] MSW N10:0 Logic Command (see Appendix D) N10:1 Speed Reference N10:2 Value of parameter assigned to Parameter 300 [Data In A1] LSW N10:3 Value of parameter assigned to Parameter 300 [Data In A1] MSW N10:4 Value of parameter assigned to Parameter 301 [Data In A2] LSW N10:5 Value of parameter assigned to Parameter 301 [Data In A2] MSW N10:6 Value of parameter assigned to Parameter 302 [Data In B1] LSW N10:7 Value of parameter assigned to Parameter 302 [Data In B1] MSW N10:8 Value of parameter assigned to Parameter 303 [Data In B2] LSW N10:9 Value of parameter assigned to Parameter 303 [Data In B2] MSW N10:10 Value of parameter assigned to Parameter 304 [Data In C1] LSW N10:11 Value of parameter assigned to Parameter 304 [Data In C1] MSW N10:12 Value of parameter assigned to Parameter 305 [Data In C2] LSW N10:13 Value of parameter assigned to Parameter 305 [Data In C2] MSW N10:14 Value of parameter assigned to Parameter 306 [Data In D1] LSW N10:15 Value of parameter assigned to Parameter 306 [Data In D1] MSW N10:16 Value of parameter assigned to Parameter 307 [Data In D2] LSW N10:17 Value of parameter assigned to Parameter 307 [Data In D2] MSW

102 5-28 Using the I/O PowerFlex 700S, PowerFlex 700L with 700S Control, PowerFlex 750-Series, and PowerFlex Digital DC Drives When using any of these drives, which contain both DINT (32-bit format) and REAL (floating point format) data types, you will always read from and write to the LSW data table address in the controller first. Then if the data value exceeds 16 bits, the remaining value will be in the MSW data table address. Table 5.L PLC-5 Data Table Addresses for PowerFlex 700S Drives (Phase I Control) Data Table Address Description N9:0 Logic Status (see Appendix D) N9:1 Not Used N9:2 Speed Feedback LSW N9:3 Speed Feedback MSW N9:4 Value of parameter assigned to Parameter 724/725 [Data Out A1] LSW N9:5 Value of parameter assigned to Parameter 724/725 [Data Out A1] MSW N9:6 Value of parameter assigned to Parameter 726/727 [Data Out A2] LSW N9:7 Value of parameter assigned to Parameter 726/727 [Data Out A2] MSW N9:8 Value of parameter assigned to Parameter 728/729 [Data Out B1] LSW N9:9 Value of parameter assigned to Parameter 728/729 [Data Out B1] MSW N9:10 Value of parameter assigned to Parameter 730/731 [Data Out B2] LSW N9:11 Value of parameter assigned to Parameter 730/731 [Data Out B2] MSW N9:12 Value of parameter assigned to Parameter 732/733 [Data Out C1] LSW N9:13 Value of parameter assigned to Parameter 732/733 [Data Out C1] MSW N9:14 Value of parameter assigned to Parameter 734/735 [Data Out C2] LSW N9:15 Value of parameter assigned to Parameter 734/735 [Data Out C2] MSW N9:16 Value of parameter assigned to Parameter 736/737 [Data Out D1] LSW N9:17 Value of parameter assigned to Parameter 736/737 [Data Out D1] MSW N9:18 Value of parameter assigned to Parameter 738/739 [Data Out D2] LSW N9:19 Value of parameter assigned to Parameter 738/739 [Data Out D2] MSW N10:0 Logic Command (see Appendix D) N10:1 Not Used N10:2 Speed Reference LSW N10:3 Speed Reference MSW N10:4 Value of parameter assigned to Parameter 707/708 [Data In A1] LSW N10:5 Value of parameter assigned to Parameter 707/708 [Data In A1] MSW N10:6 Value of parameter assigned to Parameter 709/710 [Data In A2] LSW N10:7 Value of parameter assigned to Parameter 709/710 [Data In A2] MSW N10:8 Value of parameter assigned to Parameter 711/712 [Data In B1] LSW N10:9 Value of parameter assigned to Parameter 711/712 [Data In B1] MSW N10:10 Value of parameter assigned to Parameter 713/714 [Data In B2] LSW N10:11 Value of parameter assigned to Parameter 713/714 [Data In B2] MSW N10:12 Value of parameter assigned to Parameter 715/716 [Data In C1] LSW N10:13 Value of parameter assigned to Parameter 715/716 [Data In C1] MSW N10:14 Value of parameter assigned to Parameter 717/718 [Data In C2] LSW N10:15 Value of parameter assigned to Parameter 717/718 [Data In C2] MSW N10:16 Value of parameter assigned to Parameter 719/720 [Data In D1] LSW N10:17 Value of parameter assigned to Parameter 719/720 [Data In D1] MSW N10:18 Value of parameter assigned to Parameter 721/722 [Data In D2] LSW N10:19 Value of parameter assigned to Parameter 721/722 [Data In D2] MSW

103 Using the I/O 5-29 Table 5.M PLC-5 Data Table Addresses for: PowerFlex 700S Drives with Phase II Control PowerFlex 700L Drives with 700S Control Data Table Address Description N9:0 Logic Status (see Appendix D) N9:1 Not Used N9:2 Speed Feedback LSW N9:3 Speed Feedback MSW N9:4 Value of parameter assigned to Parameter 660 [DPI Data Out A1] LSW N9:5 Value of parameter assigned to Parameter 660 [DPI Data Out A1] MSW N9:6 Value of parameter assigned to Parameter 661 [DPI Data Out A2] LSW N9:7 Value of parameter assigned to Parameter 661 [DPI Data Out A2] MSW N9:8 Value of parameter assigned to Parameter 662 [DPI Data Out B1] LSW N9:9 Value of parameter assigned to Parameter 662 [DPI Data Out B1] MSW N9:10 Value of parameter assigned to Parameter 663 [DPI Data Out B2] LSW N9:11 Value of parameter assigned to Parameter 663 [DPI Data Out B2] MSW N9:12 Value of parameter assigned to Parameter 664 [DPI Data Out C1] LSW N9:13 Value of parameter assigned to Parameter 664 [DPI Data Out C1] MSW N9:14 Value of parameter assigned to Parameter 665 [DPI Data Out C2] LSW N9:15 Value of parameter assigned to Parameter 665 [DPI Data Out C2] MSW N9:16 Value of parameter assigned to Parameter 666 [DPI Data Out D1] LSW N9:17 Value of parameter assigned to Parameter 666 [DPI Data Out D1] MSW N9:18 Value of parameter assigned to Parameter 667 [DPI Data Out D2] LSW N9:19 Value of parameter assigned to Parameter 667 [DPI Data Out D2] MSW N10:0 Logic Command (see Appendix D) N10:1 Not Used N10:2 Speed Reference LSW N10:3 Speed Reference MSW N10:4 Value of parameter assigned to Parameter 651 [DPI Data In A1] LSW N10:5 Value of parameter assigned to Parameter 651 [DPI Data In A1] MSW N10:6 Value of parameter assigned to Parameter 652 [DPI Data In A2] LSW N10:7 Value of parameter assigned to Parameter 652 [DPI Data In A2] MSW N10:8 Value of parameter assigned to Parameter 653 [DPI Data In B1] LSW N10:9 Value of parameter assigned to Parameter 653 [DPI Data In B1] MSW N10:10 Value of parameter assigned to Parameter 654 [DPI Data In B2] LSW N10:11 Value of parameter assigned to Parameter 654 [DPI Data In B2] MSW N10:12 Value of parameter assigned to Parameter 655 [DPI Data In C1] LSW N10:13 Value of parameter assigned to Parameter 655 [DPI Data In C1] MSW N10:14 Value of parameter assigned to Parameter 656 [DPI Data In C2] LSW N10:15 Value of parameter assigned to Parameter 656 [DPI Data In C2] MSW N10:16 Value of parameter assigned to Parameter 657 [DPI Data In D1] LSW N10:17 Value of parameter assigned to Parameter 657 [DPI Data In D1] MSW N10:18 Value of parameter assigned to Parameter 658 [DPI Data In D2] LSW N10:19 Value of parameter assigned to Parameter 658 [DPI Data In D2] MSW

104 5-30 Using the I/O Table 5.N PLC-5 Data Table Addresses for PowerFlex 750-Series Drives Data Table Address Description N9:0 Logic Status (see Appendix D) N9:1 Not Used N9:2 Speed Feedback LSW N9:3 Speed Feedback MSW N9:4 Value of parameter assigned to Parameter 905 [Data Out A1] LSW N9:5 Value of parameter assigned to Parameter 905 [Data Out A1] MSW N9:6 Value of parameter assigned to Parameter 906 [Data Out A2] LSW N9:7 Value of parameter assigned to Parameter 906 [Data Out A2] MSW N9:8 Value of parameter assigned to Parameter 907 [Data Out B1] LSW N9:9 Value of parameter assigned to Parameter 907 [Data Out B1] MSW N9:10 Value of parameter assigned to Parameter 908 [Data Out B2] LSW N9:11 Value of parameter assigned to Parameter 908 [Data Out B2] MSW N9:12 Value of parameter assigned to Parameter 909 [Data Out C1] LSW N9:13 Value of parameter assigned to Parameter 909 [Data Out C1] MSW N9:14 Value of parameter assigned to Parameter 910 [Data Out C2] LSW N9:15 Value of parameter assigned to Parameter 910 [Data Out C2] MSW N9:16 Value of parameter assigned to Parameter 911 [Data Out D1] LSW N9:17 Value of parameter assigned to Parameter 911 [Data Out D1] MSW N9:18 Value of parameter assigned to Parameter 912 [Data Out D2] LSW N9:19 Value of parameter assigned to Parameter 912 [Data Out D2] MSW N10:0 Logic Command (see Appendix D) N10:1 Not Used N10:2 Speed Reference LSW N10:3 Speed Reference MSW N10:4 Value of parameter assigned to Parameter 895 [Data In A1] LSW N10:5 Value of parameter assigned to Parameter 895 [Data In A1] MSW N10:6 Value of parameter assigned to Parameter 896 [Data In A2] LSW N10:7 Value of parameter assigned to Parameter 896 [Data In A2] MSW N10:8 Value of parameter assigned to Parameter 897 [Data In B1] LSW N10:9 Value of parameter assigned to Parameter 897 [Data In B1] MSW N10:10 Value of parameter assigned to Parameter 898 [Data In B2] LSW N10:11 Value of parameter assigned to Parameter 898 [Data In B2] MSW N10:12 Value of parameter assigned to Parameter 899 [Data In C1] LSW N10:13 Value of parameter assigned to Parameter 899 [Data In C1] MSW N10:14 Value of parameter assigned to Parameter 900 [Data In C2] LSW N10:15 Value of parameter assigned to Parameter 900 [Data In C2] MSW N10:16 Value of parameter assigned to Parameter 901 [Data In D1] LSW N10:17 Value of parameter assigned to Parameter 901 [Data In D1] MSW N10:18 Value of parameter assigned to Parameter 902 [Data In D2] LSW N10:19 Value of parameter assigned to Parameter 902 [Data In D2] MSW

105 Using the I/O 5-31 Table 5.O PLC-5 Data Table Addresses for PowerFlex Digital DC Drives Data Table Address Description N9:0 Logic Status (see Appendix D) N9:1 Speed Feedback N9:2 Value of parameter assigned to Parameter 618 [Data Out A1] LSW N9:3 Value of parameter assigned to Parameter 618 [Data Out A1] MSW N9:4 Value of parameter assigned to Parameter 619 [Data Out A2] LSW N9:5 Value of parameter assigned to Parameter 619 [Data Out A2] MSW N9:6 Value of parameter assigned to Parameter 620 [Data Out B1] LSW N9:7 Value of parameter assigned to Parameter 620 [Data Out B1] MSW N9:8 Value of parameter assigned to Parameter 621 [Data Out B2] LSW N9:9 Value of parameter assigned to Parameter 621 [Data Out B2] MSW N9:10 Value of parameter assigned to Parameter 622 [Data Out C1] LSW N9:11 Value of parameter assigned to Parameter 622 [Data Out C1] MSW N9:12 Value of parameter assigned to Parameter 623 [Data Out C2] LSW N9:13 Value of parameter assigned to Parameter 623 [Data Out C2] MSW N9:14 Value of parameter assigned to Parameter 624 [Data Out D1] LSW N9:15 Value of parameter assigned to Parameter 624 [Data Out D1] MSW N9:16 Value of parameter assigned to Parameter 625 [Data Out D2] LSW N9:17 Value of parameter assigned to Parameter 625 [Data Out D2] MSW N10:0 Logic Command (see Appendix D) N10:1 Speed Reference N10:2 Value of parameter assigned to Parameter 610 [Data In A1] LSW N10:3 Value of parameter assigned to Parameter 610 [Data In A1] MSW N10:4 Value of parameter assigned to Parameter 611 [Data In A2] LSW N10:5 Value of parameter assigned to Parameter 611 [Data In A2] MSW N10:6 Value of parameter assigned to Parameter 612 [Data In B1] LSW N10:7 Value of parameter assigned to Parameter 612 [Data In B1] MSW N10:8 Value of parameter assigned to Parameter 613 [Data In B2] LSW N10:9 Value of parameter assigned to Parameter 613 [Data In B2] MSW N10:10 Value of parameter assigned to Parameter 614 [Data In C1] LSW N10:11 Value of parameter assigned to Parameter 614 [Data In C1] MSW N10:12 Value of parameter assigned to Parameter 615 [Data In C2] LSW N10:13 Value of parameter assigned to Parameter 615 [Data In C2] MSW N10:14 Value of parameter assigned to Parameter 616 [Data In D1] LSW N10:15 Value of parameter assigned to Parameter 616 [Data In D1] MSW N10:16 Value of parameter assigned to Parameter 617 [Data In D2] LSW N10:17 Value of parameter assigned to Parameter 617 [Data In D2] MSW

106 5-32 Using the I/O With any drive, you can use the controller data table addresses to directly control and monitor the drive without creating any ladder logic program. However, if you intend to use Human Machine Interface devices (PanelView, and so forth) to operate the drive and view its status, you will need to create descriptive controller data table addresses (Table 5.P and Table 5.Q) and a ladder logic program that will pass that data to the data table addresses used for messaging. Table 5.P PLC-5 and Program Data Table Address Descriptions for Example Logic Status/Feedback Ladder Logic Program Description PLC-5 Data Table Address Description Drive Ready N9:0/0 Status Ready B3:1/0 Drive Active N9:0/1 Status Active B3:1/1 Actual Direction (XIO) N9:0/3 Status Forward B3:1/3 Actual Direction (XIC) N9:0/3 Status Reverse B3:1/4 Drive Faulted N9:0/7 Status Faulted B3:1/7 Drive At Speed N9:0/8 Status At Speed B3:1/8 Speed Feedback (PowerFlex 70) (PowerFlex 753/755) N9:1 N9:2 Speed Feedback (PowerFlex 70) (PowerFlex 753/755) Program Data Table Address N20:1 F8:1 Table 5.Q Program and PLC-5 Data Table Address Descriptions for Example Logic Command/Reference Ladder Logic Program Description Program Data Table Address Description PLC-5 Data Table Address Command Stop B3:20/0 Drive Stop N10:0/0 Command Start B3:20/1 Drive Start N10:0/1 Command Jog B3:20/2 Drive Jog N10:0/2 Command Clear Faults B3:20/3 Drive Clear Faults N10:0/3 Command Forward Reverse (XIO) B3:20/4 Drive Forward N10:0/4 Command Forward Reverse (XIC) B3:20/4 Drive Reverse N10:0/5 Speed Reference (PowerFlex 70) (PowerFlex 753/755) N30:1 F8:3 Speed Reference (PowerFlex 70) (PowerFlex 753/755) N10:1 N10:2 An example ladder logic program that uses these descriptive controller data table addresses and passes their data to the descriptive program data table addresses is shown in Figure 5.13, Figure 5.14, Figure 5.15, and Figure 5.16.

107 Using the I/O 5-33 Figure 5.13 PLC-5 Example Ladder Logic Program for Logic Status PowerFlex 70 and PowerFlex 750-Series Drives

108 5-34 Using the I/O Figure 5.14 PLC-5 Example Ladder Logic Program for Speed Feedback PowerFlex 70 Drive Speed Feedback PowerFlex 750-Series Drive Speed Feedback

109 Using the I/O 5-35 Depending on the drive being used, see one of the following subsections for information on speed Reference and Feedback scaling. Subsection Page PowerFlex 70/700/700H and PowerFlex 700L Drives with 700 Control 5-9 PowerFlex 700S and PowerFlex 700L Drives with 700S Control 5-10 PowerFlex 753/755 Drives 5-10 PowerFlex Digital DC Drives 5-11 Figure 5.15 PLC-5 Example Ladder Logic Program for Logic Command PowerFlex 70 and PowerFlex 750-Series Drives

110 5-36 Using the I/O Figure 5.16 PLC-5 Example Ladder Logic Program for Speed Reference PowerFlex 70 Drive Speed Reference PowerFlex 750-Series Drive Speed Reference (Continued on next page.)

111 Using the I/O 5-37 (Continued from previous page.) PowerFlex 750-Series Drive Speed Reference

112 5-38 Using the I/O SLC 500 Controller Example Creating an RSLogix 500 Project, Version 7.00 or Later To transmit (read and write) data between the controller and drive, you must create discrete I/O instructions in the controller for Logic Command/Status, Reference/Feedback, and Datalinks. Also, COP instructions must be included in the ladder logic program to convert the default memory addresses in Configuring the I/O (Chapter 4) to data table addresses. 1. Start RSLogix 500 software. The RSLogix 500 window appears. 2. Select File > New to display the Select Processor Type screen. 3. Assign a name for the processor. 4. In the list, select the appropriate processor (for this example, 1747-L552C 5/05). 5. Choose the appropriate choices for the fields in the screen to match your application. 6. Click OK. The RSLogix 500 project window reappears.

113 Using the I/O In the project treeview, right-click IO Configuration and choose Open to display the I/O Configuration screen. 8. On the I/O Configuration screen, click Read IO Config. to display the Read IO Configuration from Online Processor screen. a. Click Who Active and select the communication path to the processor. b. Click OK. c. Click Read IO Config. to list the 1747-SCNR ControlNet Scanner Module. Note that the # column shows the slot number that the scanner occupies. This slot number replaces the e in the memory addresses. d. Close the Read IO Configuration from Online Processor screen.

114 5-40 Using the I/O Drive and Adapter Parameter Settings The following drive and adapter settings were used for the example ladder logic program in this section. Device Parameter Value Description PowerFlex 70 EC Drive PowerFlex 750-Series Drive (1) 20-COMM-C or 20-COMM-Q Adapter 90 - [Speed Ref A Sel 22 (DPI Port 5) Assigns 20-COMM-C/-Q to be used for the Reference [Data In A1] 140 Points to Par [Accel Time 1] [Data In A2] 142 Points to Par [Decel Time 1] [Data In B1] 100 Points to Par [Jog Speed] [Data In B2] 155 Points to Par [Stop Mode A] [Data In C1] 101 Points to Par [Preset Speed 1] [Data In C2] 102 Points to Par [Preset Speed 2] [Data In D1] 103 Points to Par [Preset Speed 3] [Data In D2] 104 Points to Par [Preset Speed 4] [Data Out A1] 140 Points to Par [Accel Time 1] [Data Out A2] 142 Points to Par [Decel Time 1] [Data Out B1] 100 Points to Par [Jog Speed] [Data Out B2] 155 Points to Par [Stop Mode A] [Data Out C1] 101 Points to Par [Preset Speed 1] [Data Out C2] 102 Points to Par [Preset Speed 2] [Data Out D1] 103 Points to Par [Preset Speed 3] [Data Out D2] 104 Points to Par [Preset Speed 4] [Spd Ref A Sel] Port 0: Port 6 Reference Assigns 20-COMM-C/Q to be used for the Reference [Data In A1] Port 0: Accel Time 1 Points to Par. 535 in the drive [Data In A2] Port 0: Testpoint Sel 1 Points to Par. 970 in the drive [Data In B1] Port 5: Anlg Out1 Hi Points to Par. 90 in Port 5 (I/O module) [Data Out A1] Port 0: DC Bus Volts Points to Par. 11 in the drive [Data Out A2] Port 0: Open Loop Fdbk Points to Par. 137 in the drive [Data Out B1] Port 5: Anlg Out0 Data Points to Par. 77 in Port 5 (I/O module) [CN Addr Cfg] 2 Node address for the adapter [DPI I/O Cfg] xxx Enables Cmd/Ref and Datalinks A D [M-S Input] xxx Configures the I/O Data to be transferred from the controller on the network to the drive [M-S Output] xxx Configures the I/O Data to be transferred from the drive to the controller on the network. (1) In this example, the 20-COMM-C or 20-COMM-Q adapter/ comm Communication Carrier Card is installed in Port 6, and a 24V I/O module is installed in Port 5. Also, Data In B2 D2 (Parameters ) and Data Out B2 D2 (Parameters ) are enabled, but not used. TIP: Data In parameters are inputs into the drive that come from controller outputs (for example, data to write to a drive parameter). Data Out parameters are outputs from the drive that go to controller inputs (for example, data to read a drive parameter).

115 Using the I/O 5-41 TIP: When using a drive that has 16-bit Datalinks (PowerFlex 70, PowerFlex 700, and PowerFlex 700H drives) to transfer a 32-bit parameter, two contiguous drive Datalink parameters (for example, Data Out A1/A2, B1/B2, and so forth) are required. To determine if a parameter is a 32-bit parameter, see the Parameter section in the drive documentation and look 32 for a symbol in the No. column. (All parameters in PowerFlex 700 Series B drives are 32-bit parameters.) For example, parameter 3 - [Output Current] in a PowerFlex 70 EC drive is a 32-bit parameter. When using a drive that has 32-bit Datalinks (PowerFlex 700 VC, PowerFlex 700S, and PowerFlex 750-Series drives), only one drive Datalink parameter is required to transfer any parameter. Understanding SLC 500 Controller Data Table Addresses Because the SLC 500 controller is a 16-bit platform and is used with the 32-bit 20-COMM-C or 20-COMM-Q adapter, the data will be transposed from the least-significant word (LSW) to the most-significant word (MSW) in the controller. When the I/O was configured (Chapter 4), two available default memory addresses (M1:e.3 for input data and M0:e.3 for output data) were used. However, because memory addresses cannot be used to display real data, COP instructions will be used in this example to convert these addresses to N data table addresses. With this conversion, the M1:e.3 address will become N9:0 and the M0:e.3 address will become N10:0. Figure 5.17 shows an example ladder logic program to convert memory addresses to N data table addresses. Figure 5.17 SLC 500 Example Ladder Logic Program to Convert Memory Addresses TIP: In the ladder logic COP instructions, the number following the colon in the #M1 and #M0 addresses is the slot number in which the scanner resides. For example, if the 1747-SCNR scanner is in slot 3, then the #M1 address becomes #M1:3.3 and the #M0 address becomes #M0:3.3. After the conversion, Figure 5.18 shows the entire data file address structure for this example.

116 5-42 Using the I/O Figure 5.18 Data File Tables for Example Ladder Logic Program Depending on the drive, Table 5.R, Table 5.S, Table 5.T, Table 5.U, Table 5.V, or Table 5.W shows the I/O definitions as they relate to the N9:0 and N10:0 data table addresses in Figure 5.18 being used in this example. PowerFlex 70, PowerFlex 700 with Standard Control, and PowerFlex 700H Drives When using any of these products, which contain INT (16-bit format) data types, you will read from and write to a single data table address in the controller. Table 5.R SLC 500 Data Table Addresses for: PowerFlex 70 Drives with Standard or Enhanced Control PowerFlex 700 Drives with Standard Control PowerFlex 700H Drives Data Table Address Description N9:0 Reserved for scanner status N9:1 Reserved for scanner status N9:2 Logic Status (see Appendix D) N9:3 Speed Feedback N9:4 Value of parameter assigned to Parameter 310 [Data Out A1] N9:5 Value of parameter assigned to Parameter 311 [Data Out A2] N9:6 Value of parameter assigned to Parameter 312 [Data Out B1] N9:7 Value of parameter assigned to Parameter 313 [Data Out B2] N9:8 Value of parameter assigned to Parameter 314 [Data Out C1] N9:9 Value of parameter assigned to Parameter 315 [Data Out C2] N9:10 Value of parameter assigned to Parameter 316 [Data Out D1] N9:11 Value of parameter assigned to Parameter 317 [Data Out D2] N10:0 Logic Command (see Appendix D) N10:1 Speed Reference N10:2 Value of parameter assigned to Parameter 300 [Data In A1] N10:3 Value of parameter assigned to Parameter 301 [Data In A2] N10:4 Value of parameter assigned to Parameter 302 [Data In B1] N10:5 Value of parameter assigned to Parameter 303 [Data In B2] N10:6 Value of parameter assigned to Parameter 304 [Data In C1] N10:7 Value of parameter assigned to Parameter 305 [Data In C2] N10:8 Value of parameter assigned to Parameter 306 [Data In D1] N10:9 Value of parameter assigned to Parameter 307 [Data In D2]

117 Using the I/O 5-43 PowerFlex 700 Drives with Vector Control and PowerFlex 700L Drives with 700 Control When using any of these drives, which contain DINT (32-bit format) data types, you will read from and write to the LSW data table address in the controller. Table 5.S SLC 500 Data Table Addresses for: PowerFlex 700 Drives with Vector Control PowerFlex 700L Drives with 700 Control Data Table Address Description N9:0 Reserved for scanner status N9:1 Reserved for scanner status N9:2 Logic Status (see Appendix D) N9:3 Speed Feedback N9:4 Value of parameter assigned to Parameter 310 [Data Out A1] LSW N9:5 Value of parameter assigned to Parameter 310 [Data Out A1] MSW N9:6 Value of parameter assigned to Parameter 311 [Data Out A2] LSW N9:7 Value of parameter assigned to Parameter 311 [Data Out A2] MSW N9:8 Value of parameter assigned to Parameter 312 [Data Out B1] LSW N9:9 Value of parameter assigned to Parameter 312 [Data Out B1] MSW N9:10 Value of parameter assigned to Parameter 313 [Data Out B2] LSW N9:11 Value of parameter assigned to Parameter 313 [Data Out B2] MSW N9:12 Value of parameter assigned to Parameter 314 [Data Out C1] LSW N9:13 Value of parameter assigned to Parameter 314 [Data Out C1] MSW N9:14 Value of parameter assigned to Parameter 315 [Data Out C2] LSW N9:15 Value of parameter assigned to Parameter 315 [Data Out C2] MSW N9:16 Value of parameter assigned to Parameter 316 [Data Out D1] LSW N9:17 Value of parameter assigned to Parameter 316 [Data Out D1] MSW N9:18 Value of parameter assigned to Parameter 317 [Data Out D2] LSW N9:19 Value of parameter assigned to Parameter 317 [Data Out D2] MSW N10:0 Logic Command (see Appendix D) N10:1 Speed Reference N10:2 Value of parameter assigned to Parameter 300 [Data In A1] LSW N10:3 Value of parameter assigned to Parameter 300 [Data In A1] MSW N10:4 Value of parameter assigned to Parameter 301 [Data In A2] LSW N10:5 Value of parameter assigned to Parameter 301 [Data In A2] MSW N10:6 Value of parameter assigned to Parameter 302 [Data In B1] LSW N10:7 Value of parameter assigned to Parameter 302 [Data In B1] MSW N10:8 Value of parameter assigned to Parameter 303 [Data In B2] LSW N10:9 Value of parameter assigned to Parameter 303 [Data In B2] MSW N10:10 Value of parameter assigned to Parameter 304 [Data In C1] LSW N10:11 Value of parameter assigned to Parameter 304 [Data In C1] MSW N10:12 Value of parameter assigned to Parameter 305 [Data In C2] LSW N10:13 Value of parameter assigned to Parameter 305 [Data In C2] MSW N10:14 Value of parameter assigned to Parameter 306 [Data In D1] LSW N10:15 Value of parameter assigned to Parameter 306 [Data In D1] MSW N10:16 Value of parameter assigned to Parameter 307 [Data In D2] LSW N10:17 Value of parameter assigned to Parameter 307 [Data In D2] MSW

118 5-44 Using the I/O PowerFlex 700S, PowerFlex 700L with 700S Control, PowerFlex 750-Series, and PowerFlex Digital DC Drives When using any of these drives, which contain both DINT (32-bit format) and REAL (floating point format) data types, you will always read from and write to the LSW data table address in the controller first. Then if the data value exceeds 16 bits, the remaining value will be in the MSW data table address. Table 5.T SLC 500 Data Table Addresses for PowerFlex 700S Drives (Phase I Control) Data Table Address Description N9:0 Reserved for scanner status N9:1 Reserved for scanner status N9:2 Logic Status (see Appendix D) N9:3 Not Used N9:4 Speed Feedback LSW N9:5 Speed Feedback MSW N9:6 Value of parameter assigned to Parameter 724/725 [Data Out A1] LSW N9:7 Value of parameter assigned to Parameter 724/725 [Data Out A1] MSW N9:8 Value of parameter assigned to Parameter 726/727 [Data Out A2] LSW N9:9 Value of parameter assigned to Parameter 726/727 [Data Out A2] MSW N9:10 Value of parameter assigned to Parameter 728/729 [Data Out B1] LSW N9:11 Value of parameter assigned to Parameter 728/729 [Data Out B1] MSW N9:12 Value of parameter assigned to Parameter 730/731 [Data Out B2] LSW N9:13 Value of parameter assigned to Parameter 730/731 [Data Out B2] MSW N9:14 Value of parameter assigned to Parameter 732/733 [Data Out C1] LSW N9:15 Value of parameter assigned to Parameter 732/733 [Data Out C1] MSW N9:16 Value of parameter assigned to Parameter 734/735 [Data Out C2] LSW N9:17 Value of parameter assigned to Parameter 734/735 [Data Out C2] MSW N9:18 Value of parameter assigned to Parameter 736/737 [Data Out D1] LSW N9:19 Value of parameter assigned to Parameter 736/737 [Data Out D1] MSW N9:20 Value of parameter assigned to Parameter 738/739 [Data Out D2] LSW N9:21 Value of parameter assigned to Parameter 738/739 [Data Out D2] MSW N10:0 Logic Command (see Appendix D) N10:1 Not Used N10:2 Speed Reference LSW N10:3 Speed Reference MSW N10:4 Value of parameter assigned to Parameter 707/708 [Data In A1] LSW N10:5 Value of parameter assigned to Parameter 707/708 [Data In A1] MSW N10:6 Value of parameter assigned to Parameter 709/710 [Data In A2] LSW N10:7 Value of parameter assigned to Parameter 709/710 [Data In A2] MSW N10:8 Value of parameter assigned to Parameter 711/712 [Data In B1] LSW N10:9 Value of parameter assigned to Parameter 711/712 [Data In B1] MSW N10:10 Value of parameter assigned to Parameter 713/714 [Data In B2] LSW N10:11 Value of parameter assigned to Parameter 713/714 [Data In B2] MSW N10:12 Value of parameter assigned to Parameter 715/716 [Data In C1] LSW N10:13 Value of parameter assigned to Parameter 715/716 [Data In C1] MSW N10:14 Value of parameter assigned to Parameter 717/718 [Data In C2] LSW N10:15 Value of parameter assigned to Parameter 717/718 [Data In C2] MSW N10:16 Value of parameter assigned to Parameter 719/720 [Data In D1] LSW N10:17 Value of parameter assigned to Parameter 719/720 [Data In D1] MSW N10:18 Value of parameter assigned to Parameter 721/722 [Data In D2] LSW N10:19 Value of parameter assigned to Parameter 721/722 [Data In D2] MSW

119 Using the I/O 5-45 Table 5.U SLC 500 Data Table Addresses for: PowerFlex 700S Drives with Phase II Control PowerFlex 700L Drives with 700S Control Data Table Address Description N9:0 Reserved for scanner status N9:1 Reserved for scanner status N9:2 Logic Status (see Appendix D) N9:3 Not Used N9:4 Speed Feedback LSW N9:5 Speed Feedback MSW N9:6 Value of parameter assigned to Parameter 660 [DPI Data Out A1] LSW N9:7 Value of parameter assigned to Parameter 660 [DPI Data Out A1] MSW N9:8 Value of parameter assigned to Parameter 661 [DPI Data Out A2] LSW N9:9 Value of parameter assigned to Parameter 661 [DPI Data Out A2] MSW N9:10 Value of parameter assigned to Parameter 662 [DPI Data Out B1] LSW N9:11 Value of parameter assigned to Parameter 662 [DPI Data Out B1] MSW N9:12 Value of parameter assigned to Parameter 663 [DPI Data Out B2] LSW N9:13 Value of parameter assigned to Parameter 663 [DPI Data Out B2] MSW N9:14 Value of parameter assigned to Parameter 664 [DPI Data Out C1] LSW N9:15 Value of parameter assigned to Parameter 664 [DPI Data Out C1] MSW N9:16 Value of parameter assigned to Parameter 665 [DPI Data Out C2] LSW N9:17 Value of parameter assigned to Parameter 665 [DPI Data Out C2] MSW N9:18 Value of parameter assigned to Parameter 666 [DPI Data Out D1] LSW N9:19 Value of parameter assigned to Parameter 666 [DPI Data Out D1] MSW N9:20 Value of parameter assigned to Parameter 667 [DPI Data Out D2] LSW N9:21 Value of parameter assigned to Parameter 667 [DPI Data Out D2] MSW N10:0 Logic Command (see Appendix D) N10:1 Not Used N10:2 Speed Reference LSW N10:3 Speed Reference MSW N10:4 Value of parameter assigned to Parameter 651 [DPI Data In A1] LSW N10:5 Value of parameter assigned to Parameter 651 [DPI Data In A1] MSW N10:6 Value of parameter assigned to Parameter 652 [DPI Data In A2] LSW N10:7 Value of parameter assigned to Parameter 652 [DPI Data In A2] MSW N10:8 Value of parameter assigned to Parameter 653 [DPI Data In B1] LSW N10:9 Value of parameter assigned to Parameter 653 [DPI Data In B1] MSW N10:10 Value of parameter assigned to Parameter 654 [DPI Data In B2] LSW N10:11 Value of parameter assigned to Parameter 654 [DPI Data In B2] MSW N10:12 Value of parameter assigned to Parameter 655 [DPI Data In C1] LSW N10:13 Value of parameter assigned to Parameter 655 [DPI Data In C1] MSW N10:14 Value of parameter assigned to Parameter 656 [DPI Data In C2] LSW N10:15 Value of parameter assigned to Parameter 656 [DPI Data In C2] MSW N10:16 Value of parameter assigned to Parameter 657 [DPI Data In D1] LSW N10:17 Value of parameter assigned to Parameter 657 [DPI Data In D1] MSW N10:18 Value of parameter assigned to Parameter 658 [DPI Data In D2] LSW N10:19 Value of parameter assigned to Parameter 658 [DPI Data In D2] MSW

120 5-46 Using the I/O Table 5.V SLC 500 Data Table Addresses for PowerFlex 750-Series Drives Data Table Address Description N9:0 Reserved for scanner status N9:1 Reserved for scanner status N9:2 Logic Status (see Appendix D) N9:3 Not Used N9:4 Speed Feedback LSW N9:5 Speed Feedback MSW N9:6 Value of parameter assigned to Parameter 905 [Data Out A1] LSW N9:7 Value of parameter assigned to Parameter 905 [Data Out A1] MSW N9:8 Value of parameter assigned to Parameter 906 [Data Out A2] LSW N9:9 Value of parameter assigned to Parameter 906 [Data Out A2] MSW N9:10 Value of parameter assigned to Parameter 907 [Data Out B1] LSW N9:11 Value of parameter assigned to Parameter 907 [Data Out B1] MSW N9:12 Value of parameter assigned to Parameter 908 [Data Out B2] LSW N9:13 Value of parameter assigned to Parameter 908 [Data Out B2] MSW N9:14 Value of parameter assigned to Parameter 909 [Data Out C1] LSW N9:15 Value of parameter assigned to Parameter 909 [Data Out C1] MSW N9:16 Value of parameter assigned to Parameter 910 [Data Out C2] LSW N9:17 Value of parameter assigned to Parameter 910 [Data Out C2] MSW N9:18 Value of parameter assigned to Parameter 911 [Data Out D1] LSW N9:19 Value of parameter assigned to Parameter 911 [Data Out D1] MSW N9:20 Value of parameter assigned to Parameter 912 [Data Out D2] LSW N9:21 Value of parameter assigned to Parameter 912 [Data Out D2] MSW N10:0 Logic Command (see Appendix D) N10:1 Not Used N10:2 Speed Reference LSW N10:3 Speed Reference MSW N10:4 Value of parameter assigned to Parameter 895 [Data In A1] LSW N10:5 Value of parameter assigned to Parameter 895 [Data In A1] MSW N10:6 Value of parameter assigned to Parameter 896 [Data In A2] LSW N10:7 Value of parameter assigned to Parameter 896 [Data In A2] MSW N10:8 Value of parameter assigned to Parameter 897 [Data In B1] LSW N10:9 Value of parameter assigned to Parameter 897 [Data In B1] MSW N10:10 Value of parameter assigned to Parameter 898 [Data In B2] LSW N10:11 Value of parameter assigned to Parameter 898 [Data In B2] MSW N10:12 Value of parameter assigned to Parameter 899 [Data In C1] LSW N10:13 Value of parameter assigned to Parameter 899 [Data In C1] MSW N10:14 Value of parameter assigned to Parameter 900 [Data In C2] LSW N10:15 Value of parameter assigned to Parameter 900 [Data In C2] MSW N10:16 Value of parameter assigned to Parameter 901 [Data In D1] LSW N10:17 Value of parameter assigned to Parameter 901 [Data In D1] MSW N10:18 Value of parameter assigned to Parameter 902 [Data In D2] LSW N10:19 Value of parameter assigned to Parameter 902 [Data In D2] MSW

121 Using the I/O 5-47 Table 5.W SLC 500 Data Table Addresses for PowerFlex Digital DC Drives Data Table Address Description N9:0 Reserved for scanner status N9:1 Reserved for scanner status N9:2 Logic Status (see Appendix D) N9:3 Speed Feedback N9:4 Value of parameter assigned to Parameter 618 [Data Out A1] LSW N9:5 Value of parameter assigned to Parameter 618 [Data Out A1] MSW N9:6 Value of parameter assigned to Parameter 619 [Data Out A2] LSW N9:7 Value of parameter assigned to Parameter 619 [Data Out A2] MSW N9:8 Value of parameter assigned to Parameter 620 [Data Out B1] LSW N9:9 Value of parameter assigned to Parameter 620 [Data Out B1] MSW N9:10 Value of parameter assigned to Parameter 621 [Data Out B2] LSW N9:11 Value of parameter assigned to Parameter 621 [Data Out B2] MSW N9:12 Value of parameter assigned to Parameter 622 [Data Out C1] LSW N9:13 Value of parameter assigned to Parameter 622 [Data Out C1] MSW N9:14 Value of parameter assigned to Parameter 623 [Data Out C2] LSW N9:15 Value of parameter assigned to Parameter 623 [Data Out C2] MSW N9:16 Value of parameter assigned to Parameter 624 [Data Out D1] LSW N9:17 Value of parameter assigned to Parameter 624 [Data Out D1] MSW N9:18 Value of parameter assigned to Parameter 625 [Data Out D2] LSW N9:19 Value of parameter assigned to Parameter 625 [Data Out D2] MSW N10:0 Logic Command (see Appendix D) N10:1 Speed Reference N10:2 Value of parameter assigned to Parameter 610 [Data In A1] LSW N10:3 Value of parameter assigned to Parameter 610 [Data In A1] MSW N10:4 Value of parameter assigned to Parameter 611 [Data In A2] LSW N10:5 Value of parameter assigned to Parameter 611 [Data In A2] MSW N10:6 Value of parameter assigned to Parameter 612 [Data In B1] LSW N10:7 Value of parameter assigned to Parameter 612 [Data In B1] MSW N10:8 Value of parameter assigned to Parameter 613 [Data In B2] LSW N10:9 Value of parameter assigned to Parameter 613 [Data In B2] MSW N10:10 Value of parameter assigned to Parameter 614 [Data In C1] LSW N10:11 Value of parameter assigned to Parameter 614 [Data In C1] MSW N10:12 Value of parameter assigned to Parameter 615 [Data In C2] LSW N10:13 Value of parameter assigned to Parameter 615 [Data In C2] MSW N10:14 Value of parameter assigned to Parameter 616 [Data In D1] LSW N10:15 Value of parameter assigned to Parameter 616 [Data In D1] MSW N10:16 Value of parameter assigned to Parameter 617 [Data In D2] LSW N10:17 Value of parameter assigned to Parameter 617 [Data In D2] MSW

122 5-48 Using the I/O To operate any drive and view its status using the data table addresses, Human Machine Interface devices (PanelView, and so forth), or a ladder logic program, you will need to create descriptive controller data table addresses (Table 5.X and Table 5.Y) and a ladder logic program that will pass the controller address data to the program data table addresses. Table 5.X SLC 500 and Program Data Table Address Descriptions for Example Logic Status/Feedback Ladder Logic Program Description SLC 500 Data Table Address Description Program Data Table Address Drive Ready N9:2/0 Status Ready B3:1/0 Drive Active N9:2/1 Status Active B3:1/1 Actual Direction (XIO) N9:2/3 Status Forward B3:1/3 Actual Direction (XIC) N9:2/3 Status Reverse B3:1/4 Drive Faulted N9:2/7 Status Faulted B3:1/7 Drive At Speed N9:2/8 Status At Speed B3:1/8 Speed Feedback (PowerFlex 70) (PowerFlex 753/755) N9:3 N9:4 Speed Feedback (PowerFlex 70) (PowerFlex 753/755) N20:1 F8:1 Table 5.Y Program and SLC 500 Data Table Address Descriptions for Example Logic Command/Reference Ladder Logic Program Description Program Data Table Address Description SLC 500 Data Table Address Command Stop B3:20/0 Drive Stop N10:0/0 Command Start B3:20/1 Drive Start N10:0/1 Command Jog B3:20/2 Drive Jog N10:0/2 Command Clear Faults B3:20/3 Drive Clear Faults N10:0/3 Command Forward Reverse (XIO) B3:20/4 Drive Forward N10:0/4 Command Forward Reverse (XIC) B3:20/4 Drive Reverse N10:0/5 Speed Reference (PowerFlex 70) (PowerFlex 753/755) N30:1 F8:3 Speed Reference (PowerFlex 70) (PowerFlex 753/755) N10:1 N10:2 Important: In addition to the Run mode for the processor, the scanner also has its own Run mode. To change the scanner mode from IDLE to RUN, set Bit 10 in data table address O:e.0, where e = the scanner slot number. For this example, we set Bit 10 in data table address O:1.0. An example ladder logic program that uses these descriptive controller data table addresses and passes their data to the descriptive program data table addresses is shown in Figure 5.19, Figure 5.20, Figure 5.21, and Figure 5.22.

123 Using the I/O 5-49 Figure 5.19 SLC 500 Example Ladder Logic Program for Logic Status PowerFlex 70 and PowerFlex 750-Series Drives

124 5-50 Using the I/O Figure 5.20 SLC 500 Example Ladder Logic Program for Speed Feedback PowerFlex 70 Drive Speed Feedback PowerFlex 750-Series Drive Speed Feedback

125 Using the I/O 5-51 Depending on the drive being used, see one of the following subsections for information on speed Reference and Feedback scaling. Subsection Page PowerFlex 70/700/700H and PowerFlex 700L Drives with 700 Control 5-9 PowerFlex 700S and PowerFlex 700L Drives with 700S Control 5-10 PowerFlex 753/755 Drives 5-10 PowerFlex Digital DC Drives 5-11 Figure 5.21 SLC 500 Example Ladder Logic Program for Logic Command PowerFlex 70 and PowerFlex 750-Series Drives

126 5-52 Using the I/O Figure 5.22 SLC 500 Example Ladder Logic Program for Speed Reference PowerFlex 70 Drive Speed Reference PowerFlex 750-Series Drive Speed Reference (Continued on next page.)

127 Using the I/O 5-53 (Continued from previous page.) PowerFlex 750-Series Drive Speed Reference

128 5-54 Using the I/O Notes:

129 Chapter 6 Using Explicit Messaging This chapter provides information and examples that explain how to use Explicit Messaging to configure and monitor the adapter and connected PowerFlex 7-Class drive or PowerFlex 750-Series drive. Important: When used in a PowerFlex 750-Series drive, the 20-COMM-C or 20-COMM-Q adapter must have firmware or later to support explicit messaging to drive parameters (Port 0). Furthermore, the adapter requires firmware or later for explicit messaging to parameters of peripherals in drive Ports Topic Page About Explicit Messaging 6-2 Performing Explicit Messages 6-3 ControlLogix Controller Examples 6-4 PLC-5 Controller Examples 6-23 SLC 500 Controller Examples 6-40!! ATTENTION: Risk of injury or equipment damage exists. The examples in this publication are intended solely for purposes of example. There are many variables and requirements with any application. Rockwell Automation does not assume responsibility or liability (to include intellectual property liability) for actual use of the examples shown in this publication. ATTENTION: Risk of equipment damage exists. If Explicit Messages are programmed to write parameter data to Nonvolatile Storage (NVS) frequently, the NVS will quickly exceed its life cycle and cause the drive to malfunction. Do not create a program that frequently uses Explicit Messages to write parameter data to NVS. Datalinks do not write to NVS and should be used for frequently changed parameters. Refer to Chapter 5 for information about the I/O Image, using Logic Command/Status, Reference/Feedback, and Datalinks.

130 6-2 Using Explicit Messaging About Explicit Messaging Explicit Messaging is used to transfer data that does not require continuous updates. With Explicit Messaging, you can configure and monitor a slave device s parameters on the network. Important: When an explicit message is performed, by default no connection is made because it is an unconnected message. When timing of the message transaction is important, you can create a dedicated message connection between the controller and drive by checking the Connected box on the Communications tab message configuration screen during message setup. These message connections are in addition to the I/O connection. However, the trade off for more message connections is decreased network performance. If your application cannot tolerate this, we recommend to not check the Connected box. Important: PowerFlex 7-Class and PowerFlex 750-Series drives have explicit messaging limitations. Table 6.A shows the ControlNet Object Class code compatibilities for these drives. Table 6.A Explicit Messaging Class Code Compatibility with Drives ControlNet Object Class Code Parameter Object 0x0F DPI Parameter Object 0x93 Host DPI Parameter Object 0x9F PowerFlex 7-Class Drives PowerFlex 750-Series Drives Explicit Messaging Function Yes No Single parameter reads/writes Yes Yes (1) with limitations No Yes (2) with limitations Single and scattered parameter reads/writes Single and scattered parameter reads/writes (1) Enables access to drive parameters (Port 0), DPI device parameters (Ports 1 6 only), and Host parameters (Ports 7 14 only). For example, DPI Parameter Object Class code 0x93 can access a 20-COMM-C adapter in Port 6. However, Class code 0x93 cannot access, for example, the Host parameters in a 24V I/O option module in Port 5. See DPI Parameter Object on page C-16 for instance (parameter) numbering. (2) Enables access to drive parameters (Port 0) and Host parameters for all ports (1 14). Host DPI Parameter Object Class code 0x9F cannot access DPI (device) parameters. For example, if a DNET option module is in Port 4, its Host parameters can be accessed, but not its DPI (device) parameters. See Host DPI Parameter Object on page C-30 for instance (parameter) numbering.

131 Using Explicit Messaging 6-3 Performing Explicit Messages There are five basic events in the Explicit Messaging process. The details of each step will vary depending on the type of controller being used. See the documentation for your controller. Important: There must be a request message and a response message for all Explicit Messages, whether you are reading or writing data. Figure 6.1 Explicit Message Process ➊ Set up and send Explicit Message Request ➎ Complete Explicit Message ➍ Retrieve Explicit Message Response ControlNet Network ➋ ➌ (optional redundancy) Channel A Channel B Event ➊ ➋ ➌ ➍ ➎ Description You format the required data and set up the ladder logic program to send an Explicit Message request to the scanner or bridge module (download). The scanner or bridge module transmits the Explicit Message Request to the slave device over the network. The slave device transmits the Explicit Message Response back to the scanner. The data is stored in the scanner buffer. The controller retrieves the Explicit Message Response from the scanner s buffer (upload). The Explicit Message is complete. For information on the maximum number of Explicit Messages that can be executed at a time, see the documentation for the scanner or bridge and/or controller that is being used.

132 6-4 Using Explicit Messaging ControlLogix Controller Examples TIP: To display the Message Configuration screen in RSLogix 5000 software, add a message instruction (MSG), create a new tag for the message (Properties: Base tag type, MESSAGE data type, controller scope), and click the button in the message instruction. For supported classes, instances, and attributes, see Appendix C, ControlNet Objects. Read a Single Parameter ControlLogix Controller Example Ladder Logic Program to Read a Single Parameter Using RSLogix 5000 Software, Version or Later A Parameter Read message is used to read a single parameter. This read message example reads the value of parameter [Output Current] in a PowerFlex 7-Class drive. Important: Parameter Object Class code 0x0F is not supported in PowerFlex 750-Series drives. To do a single parameter read, follow the RSLogix 5000 software (any version) single read example on page 6-6. Table 6.B Example Controller Tags to Read a Single Parameter Operand Controller Tags for Single Read Message Data Type XIC Execute_Single_Read_Message BOOL MSG Single_Read_Message MESSAGE Figure 6.2 Example Ladder Logic to Read a Single Parameter

133 Using Explicit Messaging 6-5 ControlLogix Controller Formatting a Message to Read a Single Parameter Using RSLogix 5000 Software, Version or Later Figure 6.3 Parameter Read Single Message Configuration Screens The following table identifies the data that is required in each box to configure a message to read a single parameter. Configuration Tab Example Value Description Message Type Service Type (1) Service Code (1) Class Instance (2) Attribute Destination CIP Generic Parameter Read e (Hex.) f (Hex.) 3 (Dec.) 1 (Hex.) Output_Current (4) Used to access the Parameter Object in the adapter. This service is used to read a parameter value. Code for the requested service. Class ID for the DPI Parameter Object. Instance number is the same as parameter number. Attribute number for the Parameter Value attribute. The tag where the data that is read is stored. Communication Tab Example Value Description Path (3) My_PowerFlex_Drive The path is the route that the message will follow. Tag Tab Example Value Description Name Single_Read_Message The name for the message. (1) The default setting for Service Type is Custom, enabling entry of a Service Code not available from the Service Type pull-down menu. When choosing a Service Type other than Custom from the pull-down menu, an appropriate Hex. value is automatically assigned to the Service Code box which is dimmed (unavailable). (2) Only drive parameters (Port 0) can be read using Parameter Object Class code 0x0F. To read a parameter of a peripheral in another port, use DPI Parameter Object Class code 0x93 (see page 6-6). (3) Click Browse to find the path, or type in the name of the device listed in the I/O Configuration folder. (4) In this example, Output Current is a 32-bit integer parameter requiring the Data Type field to be set to DINT when creating the controller tag. If the parameter being read is a 16-bit integer, the tag Data Type field must be set to INT. When using a PowerFlex 700S drive, Output Current is a floating point number requiring the Data Type field to be set to REAL when creating the controller tag. See the drive documentation to determine the size of the parameter and its data type (16-bit or 32-bit integer or REAL).

134 6-6 Using Explicit Messaging ControlLogix Controller Example Ladder Logic Program to Read a Single Parameter Using RSLogix 5000 Software, Any Version A Get Attribute Single message is used to read a single parameter. This read message example reads the value of parameter [Output Current] in a PowerFlex 7-Class drive. Important: See Table 6.A on page 6-2 for limitations of PowerFlex 7-Class and PowerFlex 750-Series drives when using DPI Parameter Object Class code 0x93 or Host DPI Parameter Object Class code 0x9F for explicit messaging. Table 6.C Example Controller Tags to Read a Single Parameter Operand Controller Tags for Single Read Message Data Type XIC Execute_Single_Read_Message BOOL MSG Single_Read_Message MESSAGE Figure 6.4 Example Ladder Logic to Read a Single Parameter

135 Using Explicit Messaging 6-7 ControlLogix Controller Formatting a Message to Read a Single Parameter Using RSLogix 5000 Software, Any Version Figure 6.5 Get Attribute Single Message Configuration Screens The following table identifies the data that is required in each box to configure a message to read a single parameter. Configuration Tab Example Value Description Message Type Service Type (1) Service Code (1) Class Instance (2) Attribute Destination CIP Generic Get Attribute Single e (Hex.) 93 or 9F (Hex.) (4) 3 (Dec.) 9 (Hex.) Output_Current (5) Used to access the Parameter Object in the adapter. This service is used to read a parameter value. Code for the requested service. Class ID for the DPI Parameter Object. Instance number is the same as parameter number. Attribute number for the Parameter Value attribute. The tag where the data that is read is stored. Communication Tab Example Value Description Path (3) My_PowerFlex_Drive The path is the route that the message will follow. Tag Tab Example Value Description Name Single_Read_Message The name for the message. (1) The default setting for Service Type is Custom, enabling entry of a Service Code not available from the Service Type pull-down menu. When choosing a Service Type other than Custom from the pull-down menu, an appropriate Hex. value is automatically assigned to the Service Code box which is dimmed (unavailable). (2) The instance is the parameter number in the drive (Port 0). To read a parameter in another port, see DPI Parameter Object on page C-16 (Class code 0x93) or Host DPI Parameter Object on page C-30 (Class code 0x9F) to determine the instance number. For example, to read parameter 4 of a peripheral in Port 5 of a PowerFlex 750-Series drive, the instance would be = (3) Click Browse to find the path, or type in the name of the device listed in the I/O Configuration folder. (4) See Table 6.A on page 6-2 for limitations of PowerFlex 7-Class and PowerFlex 750-Series drives when using DPI Parameter Object Class code 0x93 or Host DPI Parameter Object Class code 0x9F for explicit messaging. (5) In this example, Output Current is a 32-bit integer parameter requiring the Data Type field to be set to DINT when creating the controller tag. If the parameter being read is a 16-bit integer, the tag Data Type field must be set to INT. When using a PowerFlex 700S or PowerFlex 750-Series drive, Output Current is a floating point number requiring the Data Type field to be set to REAL when the creating controller tag. See the drive documentation to determine the size of the parameter and its data type (16-bit or 32-bit integer or REAL).

136 6-8 Using Explicit Messaging Write a Single Parameter ControlLogix Controller Example Ladder Logic Program to Write a Single Parameter Using RSLogix 5000 Software, Version or Later A Parameter Write message is used to write to a single parameter. This write message example writes a value to parameter [Accel Time 1] in a PowerFlex 7-Class drive. Important: Parameter Object Class code 0x0F is not supported in PowerFlex 750-Series drives. To do a single parameter write, follow the RSLogix 5000 software (any version) single write example on page Table 6.D Example Controller Tags to Write a Single Parameter Operand Controller Tags for Single Write Message Data Type XIC Execute_Single_Write_Message BOOL MSG Single_Write_Message MESSAGE Figure 6.6 Example Ladder Logic to Write a Single Parameter Important: If the explicit message single write must be written continuously, use DPI Parameter Object Class code 0x93 or Host DPI Parameter Object Class code 0x9F and attribute A (10 decimal; see page 6-11). This writes to RAM not NVS (EEPROM) memory. This example single write message using Class code F writes to NVS. Over time, continuous writes will exceed the EEPROM life cycle and cause the drive to malfunction.

137 Using Explicit Messaging 6-9 ControlLogix Controller Formatting a Message to Write a Single Parameter Using RSLogix 5000 Software, Version or Later Figure 6.7 Parameter Write Single Message Configuration Screens The following table identifies the data that is required in each box to configure a message to write a single parameter. Configuration Tab Example Value Description Message Type Service Type (1) Service Code (1) Class Instance (2) Attribute Source Element Source Length CIP Generic Parameter Write 10 (Hex.) f (Hex.) 140 (Dec.) 1 (Hex.) Accel_Time_1 (4) 2 (4) Used to access the Parameter Object in the adapter. This service is used to write a parameter value. Code for the requested service. Class ID for the DPI Parameter Object. Instance number is the same as parameter number. Attribute number for the Parameter Value attribute. Name of the tag for any service data to be sent from the scanner or bridge to the adapter/drive. Number of bytes of service data to be sent in the message. Communication Tab Example Value Description Path (3) My_PowerFlex_Drive The path is the route that the message will follow. Tag Tab Example Value Description Name Single_Write_Message The name for the message. (1) The default setting for Service Type is Custom, enabling entry of a Service Code not available from the Service Type pull-down menu. When choosing a Service Type other than Custom from the pull-down menu, an appropriate Hex. value is automatically assigned to the Service Code box which is dimmed (unavailable). (2) Only drive parameters (Port 0) can be written to using Parameter Object Class code 0x0F. To write to a parameter of a peripheral in another port, use DPI Parameter Object Class code 0x93 (see page 6-10). (3) Click Browse to find the path, or type in the name of the device listed in the I/O Configuration folder. (4) In this example, Accel Time 1 is a 16-bit integer parameter requiring the tag Data Type field to be set to INT when creating the controller tag. If the parameter being written to is a 32-bit integer, the tag Data Type field must be set to DINT. Also, the Source Length field on the Message Configuration screen must correspond to the selected Data Type in bytes (for example, 4 bytes for a DINT or a REAL). When using a PowerFlex 700S drive, Accel Time 1 is a floating point number requiring the Data Type field to be set to REAL when creating the controller tag. See the drive documentation to determine the size of the parameter and its data type (16-bit or 32-bit integer or REAL).

138 6-10 Using Explicit Messaging ControlLogix Controller Example Ladder Logic Program to Write a Single Parameter Using RSLogix 5000 Software, Any Version A Set Attribute Single message is used to write to a single parameter. This write message example writes a value to parameter [Accel Time 1] in a PowerFlex 7-Class drive. Important: See Table 6.A on page 6-2 for limitations of PowerFlex 7-Class and PowerFlex 750-Series drives when using DPI Parameter Object Class code 0x93 or Host DPI Parameter Object Class code 0x9F for explicit messaging. Table 6.E Example Controller Tags to Write a Single Parameter Operand Controller Tags for Single Write Message Data Type XIC Execute_Single_Write_Message BOOL MSG Single_Write_Message MESSAGE Figure 6.8 Example Ladder Logic to Write a Single Parameter

139 Using Explicit Messaging 6-11 ControlLogix Controller Formatting a Message to Write a Single Parameter Using RSLogix 5000 Software, Any Version Figure 6.9 Set Attribute Single Message Configuration Screens Configuration Tab Example Value Description Message Type Service Type (1) Service Code (1) Class Instance (2) Attribute (3) Source Element Source Length CIP Generic Set Attribute Single 10 (Hex.) 93 or 9F (Hex.) (5) 140 (Dec.) 9 or A (Hex.) Accel_Time_1 (6) 2 (6) The following table identifies the data that is required in each box to configure a message to write a single parameter. Used to access the Parameter Object in the adapter. This service is used to write a parameter value. Code for the requested service. Class ID for the DPI Parameter Object. Instance number is the same as parameter number. Attribute number for the Parameter Value attribute. Name of the tag for any service data to be sent from the scanner or bridge to the adapter/drive. Number of bytes of service data to be sent in the message. Communication Tab Example Value Description Path (4) My_PowerFlex_Drive The path is the route that the message will follow. Tag Tab Example Value Description Name Single_Write_Message The name for the message. (1) The default setting for Service Type is Custom, enabling entry of a Service Code not available from the Service Type pull-down menu. When choosing a Service Type other than Custom from the pull-down menu, an appropriate Hex. value is automatically assigned to the Service Code box which is dimmed (unavailable). (2) The instance is the parameter number in the drive (Port 0). To write to a parameter in another port, see DPI Parameter Object on page C-16 (Class code 0x93) or Host DPI Parameter Object on page C-30 (Class code 0x9F) to determine the instance number. For example, to write to parameter 4 of a peripheral in Port 5 of a PowerFlex 750-Series drive, the instance would be = (3) Setting the Attribute value to 9 will write the parameter value to the drive s Nonvolatile Storage (EEPROM) memory, which retains the parameter value even after the drive is power cycled. Important: When set to 9, the EEPROM may quickly exceed its life cycle and cause the drive to malfunction. Setting the Attribute value to A (10 decimal) will write the parameter value to temporary memory, which deletes the parameter value after the drive is power cycled. When frequent write messages are required, we recommend using the A (10 decimal) setting. (4) Click Browse to find the path, or type in the name of the device listed in the I/O Configuration folder. (5) See Table 6.A on page 6-2 for limitations of PowerFlex 7-Class and PowerFlex 750-Series drives when using DPI Parameter Object Class code 0x93 or Host DPI Parameter Object Class code 0x9F for explicit messaging. (6) In this example, Accel Time 1 is a 16-bit integer parameter requiring the tag Data Type field to be set to INT when creating the controller tag. If the parameter being written to is a 32-bit integer, the tag Data Type field must be set to DINT. Also, the Source Length field on the Message Configuration screen must correspond to the selected Data Type in bytes (for example, 4 bytes for a DINT or a REAL). When using a PowerFlex 700S or PowerFlex 750-Series drive, Accel Time 1 is a floating point number requiring the Data Type field to be set to REAL when creating the controller tag. See the drive documentation to determine the size of the parameter and its data type (16-bit or 32-bit integer or REAL).

140 6-12 Using Explicit Messaging ControlLogix Controller Explanation of Request and Response Data for Read/Write Multiple Messaging Using RSLogix 5000 Software, Any Version The data structures in Figure 6.10 and Figure 6.11 use 16-bit words and can accommodate up to 22 parameters in a single message. In the Response Message, a parameter number with the high bit set indicates that the associated parameter value field contains an error code (parameter number in response data will be negative). Important: See Table 6.A on page 6-2 for limitations of PowerFlex 7-Class and PowerFlex 750-Series drives when using Class code 0x93 or Class code 0x9F for explicit messaging. Figure 6.10 Data Structures for Scattered Read Messages Request (Source Data) Response (Destination Data) Word 0 Parameter Number Word 0 Parameter Number 1 Pad Word 1 Parameter Value LSW 2 Pad Word 2 Parameter Value MSW 3 Parameter Number 3 Parameter Number 4 Pad Word 4 Parameter Value LSW 5 Pad Word 5 Parameter Value MSW 6 Parameter Number 6 Parameter Number 7 Pad Word 7 Parameter Value LSW 8 Pad Word 8 Parameter Value MSW 9 Parameter Number 9 Parameter Number 10 Pad Word 10 Parameter Value LSW 11 Pad Word 11 Parameter Value MSW 12 Parameter Number 12 Parameter Number 13 Pad Word 13 Parameter Value LSW 14 Pad Word 14 Parameter Value MSW Parameter Number 63 Parameter Number 64 Pad Word 64 Parameter Value LSW 65 Pad Word 65 Parameter Value MSW... Figure 6.11 Data Structures for Scattered Write Messages Request (Source Data) Response (Destination Data) Word 0 Parameter Number Word 0 Parameter Number 1 Parameter Value LSW 1 Pad Word 2 Parameter Value MSW 2 Pad Word 3 Parameter Number 3 Parameter Number 4 Parameter Value LSW 4 Pad Word 5 Parameter Value MSW 5 Pad Word 6 Parameter Number 6 Parameter Number 7 Parameter Value LSW 7 Pad Word 8 Parameter Value MSW 8 Pad Word 9 Parameter Number 9 Parameter Number 10 Parameter Value LSW 10 Pad Word 11 Parameter Value MSW 11 Pad Word 12 Parameter Number 12 Parameter Number 13 Parameter Value LSW 13 Pad Word 14 Parameter Value MSW 14 Pad Word Parameter Number 63 Parameter Number 64 Parameter Value LSW 64 Pad Word 65 Parameter Value MSW 65 Pad Word

141 Using Explicit Messaging 6-13 Read Multiple Parameters ControlLogix Controller Example Ladder Logic Program to Read Multiple Parameters Using RSLogix 5000 Software, Any Version A Scattered Read message is used to read the values of multiple parameters. Up to 22 parameters can be read. This read message example reads the values of these five parameters. PowerFlex 7-Class Drive Parameter [Output Freq] Parameter [Output Current] Parameter [Output Voltage] Parameter [DC Bus Voltage] Parameter [Analog In1 Value] PowerFlex 750-Series Drive Parameter [Output Freq] Parameter [Output Current] Parameter [Open Loop Fdbk] Parameter [Port 5: Analog Out 0 Data] Parameter [Analog In0 Value] See DPI Parameter Object on page C-16 (Class code 0x93) or Host DPI Parameter Object on page C-30 (Class code 0x9F) for parameter numbering. Important: See Table 6.A on page 6-2 for limitations of PowerFlex 7-Class and PowerFlex 750-Series drives when using DPI Parameter Object Class code 0x93 or Host DPI Parameter Object Class code 0x9F for explicit messaging. Table 6.F Example Controller Tags to Read Multiple Parameters Operand Controller Tags for Read Multiple Message Data Type XIC Execute_Scattered_Read_Message BOOL MSG Scattered_Read_Message MESSAGE Figure 6.12 Example Ladder Logic to Read Multiple Parameters

142 6-14 Using Explicit Messaging ControlLogix Controller Formatting a Message to Read Multiple Parameters Using RSLogix 5000 Software, Any Version Figure 6.13 Scattered Read Message Configuration Screens The following table identifies the data that is required in each box to configure a message to read multiple parameters. Configuration Tab Example Value Description Message Type Service Type (1) Service Code (1) Class Instance Attribute Source Element Source Length Destination CIP Generic Custom 4b (Hex.) 93 or 9F (Hex.) (3) 0 (Dec.) 0 (Hex.) Scattered_Read_Request (4) 30 (4) Scattered_Read_Response Used to access Parameter Object in the adapter. Required for scattered messages. Code for the requested service. Class ID for the DPI Parameter Object. Required for scattered messages. Required for scattered messages. Name of the tag for any service data to be sent from scanner or bridge to the adapter/drive. Number of bytes of service data to be sent in the message. The tag where the data that is read is stored. Communication Tab Example Value Description Path (2) My_PowerFlex_Drive The path is the route that the message will follow. Tag Tab Example Value Description Name Scattered_Read_Message The name for the message. (1) The default setting for Service Type is Custom, enabling entry of a Service Code not available from the Service Type pull-down menu. When choosing a Service Type other than Custom from the pull-down menu, an appropriate Hex. value is automatically assigned to the Service Code box which is dimmed (unavailable). (2) Click Browse to find the path, or type in the name of the device listed in the I/O Configuration folder. (3) See Table 6.A on page 6-2 for limitations of PowerFlex 7-Class and PowerFlex 750-Series drives when using DPI Parameter Object Class code 0x93 or Host DPI Parameter Object Class code 0x9F for explicit messaging. (4) In this example, we are reading five parameters. Each parameter being read requires an array of three INT registers. Therefore, a controller tag was created with its Data Type field set to INT[15]. Also, the Source Length field on the Message Configuration screen must correspond to the selected Data Type in bytes (for this example, 30 bytes for an INT[15] array). Scattered read messages always assume that every parameter being read is a 32-bit integer, regardless of its actual data type. Maximum length is 132 bytes or 66 words which equates to 22 parameters. For parameter numbering, see DPI Parameter Object on page C-16 (Class code 0x93) or Host DPI Parameter Object on page C-30 (Class code 0x9F).

143 Using Explicit Messaging 6-15 ControlLogix Controller Example Scattered Read Request Data In this message example, we use the data structure in Figure 6.14 or Figure 6.15 in the source tag named Scattered_Read_Request to read these five parameters. PowerFlex 7-Class Drive Parameter [Output Freq] Parameter [Output Current] Parameter [Output Voltage] Parameter [DC Bus Voltage] Parameter [Analog In1 Value] PowerFlex 750-Series Drive Parameter [Output Freq] Parameter [Output Current] Parameter [Open Loop Fdbk] Parameter [Port 5: Analog Out 0 Data] Parameter [Analog In0 Value] See DPI Parameter Object on page C-16 (Class code 0x93) or Host DPI Parameter Object on page C-30 (Class code 0x9F) for parameter numbering. Figure 6.14 Example Scattered Read Request Data for PowerFlex 7-Class Drive Figure 6.15 Example Scattered Read Request Data for PowerFlex 750-Series Drive

144 6-16 Using Explicit Messaging ControlLogix Controller Example Scattered Read Response Data The Scattered Read Request message reads the multiple parameters and returns their values to the destination tag (Scattered_Read_Response). Figure 6.16 or Figure 6.17 shows the parameter values. Figure 6.16 Example Scattered Read Response Data for PowerFlex 7-Class Drive In this message example, the parameters have the following values. PowerFlex 7-Class Drive Parameter Read Value 1 - [Output Freq] 32.5 Hz 3 - [Output Current] 0.01 Amp 6 - [Output Voltage] 118.7V AC 12 - [DC Bus Voltage] 329.2V DC 17 - [Analog In2 Value] ma Figure 6.17 Example Scattered Read Response Data for PowerFlex 750-Series Drive The PowerFlex 750-Series drive uses 32-bit integer and REAL parameters. A COP command must be used to copy the Scattered_Read_Response integer array to a 32-bit integer or REAL tag. Figure 6.18 shows the ladder logic used for this example. If the parameter data type is a REAL, then the destination tag is a REAL. If the parameter data type is a 32-bit integer, then the destination tag is a DINT. See the drive documentation to determine the parameter data type (32-bit integer or REAL).

145 Using Explicit Messaging 6-17 Figure 6.18 Example Ladder Logic to Copy Response Data for PowerFlex 750-Series Drive In this message example, the parameters have the following values. PowerFlex 750-Series Drive Parameter Read Value Data Type 1 - [Output Freq] 45.0 Hz REAL 7 - [Output Current] 0.03 Amp REAL [Open Loop Fdbk] DINT [Port 5: Analog Out 0 Data] 45.0 Hz REAL [Analog In0 Value] Volts REAL

146 6-18 Using Explicit Messaging Write Multiple Parameters ControlLogix Controller Example Ladder Logic Program to Write Multiple Parameters Using RSLogix 5000 Software, Any Version A Scattered Write message is used to write to multiple parameters. This write message example writes the following values to these five parameters. PowerFlex 7-Class Drive Parameter Write Value PowerFlex 750-Series Drive Parameter Write Value [Accel Time 2] 11.1 Sec [Accel Time 2] 11.1 Sec [Decel Time 2] 22.2 Sec [Decel Time 2] 22.2 Sec [Preset Speed 5] 33.3 Hz [Zero Position] [Preset Speed 6] 44.4 Hz [Port 5: Analog In0 Hi] [Preset Speed 7] 55.5 Hz [PTP Setpoint] -75,555 See DPI Parameter Object on page C-16 (Class code 0x93) or Host DPI Parameter Object on page C-30 (Class code 0x9F) for parameter numbering. Important: See Table 6.A on page 6-2 for limitations of PowerFlex 7-Class and PowerFlex 750-Series drives when using DPI Parameter Object Class code 0x93 or Host DPI Parameter Object Class code 0x9F for explicit messaging. Table 6.G Example Controller Tags to Write Multiple Parameters Operand Controller Tags for Write Multiple Message Data Type XIC Execute_Scattered_Write_Message BOOL MSG Scattered_Write_Message MESSAGE Figure 6.19 Example Ladder Logic to Write Multiple Parameters Important: If the explicit message scattered write must be written continuously, then use a separate explicit message single write for each parameter using DPI Parameter Object Class code 0x93 or Host DPI Parameter Object Class code 0x9F and attribute A (10 decimal; see page 6-11). Attribute A writes to RAM not NVS (EEPROM) memory. This example scattered write message using attribute 0 writes to NVS. Over time, continuous writes will exceed the EEPROM life cycle and cause the drive to malfunction.

147 Using Explicit Messaging 6-19 ControlLogix Controller Formatting a Message to Write Multiple Parameters Using RSLogix 5000 Software, Any Version Figure 6.20 Scattered Write Multiple Message Configuration Screens The following table identifies the data that is required in each box to configure a message to write multiple parameters. Configuration Tab Example Value Description Message Type Service Type (1) Service Code (1) Class Instance Attribute Source Element Source Length Destination CIP Generic Custom 4c (Hex.) 93 or 9F (Hex.) (3) 0 (Dec.) 0 (Hex.) Scattered_Write_Request (4) 30 (4) Scattered_Write_Response Used to access Parameter Object in the adapter. Required for scattered messages. Code for the requested service. Class ID for the DPI Parameter Object. Required for scattered messages. Required for scattered messages. Name of the tag for any service data to be sent from scanner or bridge to the adapter/drive. Number of bytes of service data to be sent in the message. The tag where the data that is read is stored. Communication Tab Example Value Description Path (2) My_PowerFlex_Drive The path is the route that the message will follow. Tag Tab Example Value Description Name Scattered_Write_Message The name for the message. (1) The default setting for Service Type is Custom, enabling entry of a Service Code not available from the Service Type pull-down menu. When choosing a Service Type other than Custom from the pull-down menu, an appropriate Hex. value is automatically assigned to the Service Code box which is dimmed (unavailable). (2) Click Browse to find the path, or type in the name of the device listed in the I/O Configuration folder. (3) See Table 6.A on page 6-2 for limitations of PowerFlex 7-Class and PowerFlex 750-Series drives when using DPI Parameter Object Class code 0x93 or Host DPI Parameter Object Class code 0x9F for explicit messaging. (4) In this example, we are writing to five parameters. Each parameter being written to requires an array of three INT registers. Therefore, a controller tag was created with its Data Type field set to INT[15]. Also, the Source Length field on the Message Configuration screen must correspond to the selected Data Type in bytes (for this example, 30 bytes for an INT[15] array). Scattered write messages always assume that every parameter being written to is a 32-bit integer, regardless of its actual data type. Maximum length is 132 bytes or 66 words which equates to 22 parameters. For parameter numbering, see DPI Parameter Object on page C-16 (Class code 0x93) or Host DPI Parameter Object on page C-30 (Class code 0x9F).

148 6-20 Using Explicit Messaging ControlLogix Controller Example Scattered Write Request Data In this message example, we use the data structure in Figure 6.21 or Figure 6.24 in the source tag (Scattered_Write_Request) to write new values to these parameters. PowerFlex 7-Class Drive Parameter Write Value PowerFlex 750-Series Drive Parameter See DPI Parameter Object on page C-16 (Class code 0x93) or Host DPI Parameter Object on page C-30 (Class code 0x9F) for parameter numbering. Figure 6.21 or Figure 6.24 shows the parameter values. Write Value Data Type [Accel Time 2] 11.1 Sec [Accel Time 2] 11.1 Sec. REAL [Decel Time 2] 22.2 Sec [Decel Time 2] 22.2 Sec. REAL [Preset Speed 5] 33.3 Hz [Zero Position] 33 DINT [Preset Speed 6] 44.4 Hz [Port 5: Analog In0 Hi] 5.5 REAL [Preset Speed 7] 55.5 Hz [PTP Setpoint] -75,555 REAL Figure 6.21 Example Scattered Write Request Data for PowerFlex 7-Class Drive ControlLogix Controller Example Scattered Write Response Data The results of the message appear in the destination tag named Scattered_Write_Response (Figure 6.22). Values of 0 indicate no errors occurred.

149 Using Explicit Messaging 6-21 Figure 6.22 Example Scattered Write Response Data for PowerFlex 7-Class Drive The PowerFlex 750-Series drive uses 32-bit integer and REAL parameters. A COP command must be used to copy the 32-bit integer and REAL values to the Scattered_Write_Request integer array. Figure 6.23 shows the ladder logic used for this example. If the parameter data type is a REAL, then the source tag is a REAL. If the parameter data type is a 32-bit integer, then the source tag is a DINT. See the drive documentation to determine the parameter data type (32-bit integer or REAL). Figure 6.23 Example Ladder Logic to Copy Request Data for PowerFlex 750-Series Drive

150 6-22 Using Explicit Messaging Figure 6.24 Example Scattered Write Request Data for PowerFlex 750-Series Drive The results of the explicit message appear in the destination tag Scattered_Write_Response (Figure 6.25). Values of 0 indicate no errors occurred. Figure 6.25 Example Scattered Write Response Data for PowerFlex 750-Series Drive

151 Using Explicit Messaging 6-23 PLC-5 Controller Examples The ControlNet I/O Transfer (CIO) instruction is used to send explicit messages. For PLC-5/xxC controllers, Series F, revision B or earlier, the available services you should use are Get Attribute Single, Get Attribute All, Set Attribute Single, or Set Attribute All using a CIP Generic communication command. PLC-5/xxC controllers, Series F, revision C or later, provide available message services for Get Attributes Scattered and Set Attributes Scattered using a Generic Bi-Directional communication command. PLC-5 Controller Example Ladder Logic Program to Read a Single Parameter A read message is used to read a single parameter. The specific N40:0 address shown in this read message example reads the value of parameter [Output Current] in a PowerFlex 7-Class drive. Figure 6.26 Example Ladder Logic to Read a Single Parameter

152 6-24 Using Explicit Messaging PLC-5 Controller Formatting a Message to Read a Single Parameter Figure 6.27 Read Single Message Configuration Screen The following table identifies the data that is required in each box to configure a message to read a single parameter. General Tab Example Value Description Communication Command Service Code Class Number Instance Number (1) Attribute Number PLC-5 Data Table Address Size in Elements Port Number Local ControlNet Node CIP Generic e (Hex.) 93 or 9F (Hex.) (2) 3 (Hex.) 9 (Hex.) N40:0 (3) 2 (3) 2 2 Command type for controller to read data from the drive. Code for the requested service. Class ID for the DPI Parameter Object. Instance number is the same as parameter number. Attribute number for the Parameter Value attribute. An unused controller data table address containing the message instruction. This address is the starting word of the destination file. Number of elements (words) to be transferred. Each element size is a 16-bit integer. Controller port to which the network is connected. The node address of the adapter connected to the drive. (1) The instance is the parameter number in the drive (Port 0). To read a parameter in another port, see DPI Parameter Object on page C-16 (Class code 0x93) or Host DPI Parameter Object on page C-30 (Class code 0x9F) to determine the instance number. For example, to read parameter 4 of a peripheral in Port 5 of a PowerFlex 750-Series drive, the instance would be = or 5404 (Hex). (2) See Table 6.A on page 6-2 for limitations of PowerFlex 7-Class and PowerFlex 750-Series drives when using DPI Parameter Object Class code 0x93 or Host DPI Parameter Object Class code 0x9F for explicit messaging. (3) In this example, Output Current is a 32-bit integer parameter requiring the Size in Elements field to be set to 2. If the parameter being read is a 16-bit integer, the Size in Elements must be set to 1. When using a PowerFlex 700S or PowerFlex 750-Series drive, Output Current is a REAL (floating point) parameter. You must still write this data to an integer file with Size in Elements set to 2. The following page shows ladder logic to convert the data into a floating point.

153 Using Explicit Messaging 6-25 PLC-5 Controller Example Single Read Response Data In this specific N40:0 message example, we use the data table address in Figure 6.28 to store the response value (0.13 amps) that was read from drive parameter [Output Current]. To determine the data type for the parameter and its required scaling, see the specific drive documentation. Figure 6.28 Example Single Read Response Data File Figure 6.29 shows example ladder logic to correctly format the three possible data types for read messages of different parameter types in the PLC-5 controller. Figure 6.29 Example Ladder Logic to Format Parameter Data Types for Reads For 16-bit Integer Parameters All PowerFlex 7-Class Drives For 32-bit Integer Parameters All PowerFlex 7-Class Drives For 32-bit REAL (Floating Point) Parameters PowerFlex 700S and PowerFlex 750-Series Drives

154 6-26 Using Explicit Messaging PLC-5 Controller Example Ladder Logic Program to Write a Single Parameter A write message is used to write to a single parameter. The specific N50:0 address shown in this write message example writes a value to parameter [Accel Time 1] in a PowerFlex 7-Class drive. Figure 6.30 Example Ladder Logic to Write a Single Parameter

155 Using Explicit Messaging 6-27 PLC-5 Controller Formatting a Message to Write a Single Parameter Figure 6.31 Write Single Message Configuration Screen The following table identifies the data that is required in each box to configure a message to write a single parameter. General Tab Example Value Description Communication Command Service Code Class Number Instance Number (1) Attribute Number (2) PLC-5 Data Table Address Size in Elements Port Number Local ControlNet Node CIP Generic 10 (Hex.) 93 or 9F (Hex.) (3) 8c (Hex.) 9 or A (Hex.) N50:0 (4) 1 (4) 2 2 Command type for controller to write data to the drive. Code for the requested service. Class ID for the DPI Parameter Object. Instance number is the same as parameter number. Attribute number for the Parameter Value attribute. An unused controller data table address containing the message instruction. This address is the starting word of the source file. Number of elements (words) to be transferred. Each element size is a 16-bit integer. Controller port to which the ControlNet network is connected. The node address of the adapter connected to the drive. (1) The instance is the parameter number in the drive (Port 0). To write to a parameter in another port, see DPI Parameter Object on page C-16 (Class code 0x93) or Host DPI Parameter Object on page C-30 (Class code 0x9F) to determine the instance number. For example, to write to parameter 51 of a peripheral in Port 5 of a PowerFlex 750-Series drive, the instance would be = or 5433 (Hex). In this example, Accel Time 1 is parameter 140 or 8C (Hex.). (2) Setting the Attribute value to 9 will write the parameter value to the drive s Nonvolatile Storage (EEPROM) memory, which retains the parameter value even after the drive is power cycled. Important: When set to 9, the EEPROM may quickly exceed its life cycle and cause the drive to malfunction. Setting the Attribute value to A will write the parameter value to temporary memory, which deletes the parameter value after the drive is power cycled. When frequent write messages are required, we recommend using the A setting. (3) See Table 6.A on page 6-2 for limitations of PowerFlex 7-Class and PowerFlex 750-Series drives when using DPI Parameter Object Class code 0x93 or Host DPI Parameter Object Class code 0x9F for explicit messaging. (4) In this example, Accel Time 1 is a 16-bit integer parameter requiring the Size in Elements field to be set to 1. If the parameter being written to is a 32-bit integer, the Size in Elements must be set to 2. When using a PowerFlex 700S or PowerFlex 750-Series drive, Accel Time 1 is a REAL (floating point) parameter. You must still write this data to an integer file with Size in Elements set to 2. The following page shows ladder logic to convert floating point data into integer files.

156 6-28 Using Explicit Messaging PLC-5 Controller Example Single Write Response Data In this specific N50:0 message example, we use the data table address in Figure 6.32 to store the request value (10.0 sec.) that was written to drive parameter [Accel Time 1]. To determine the data type for the parameter and its required scaling, see the specific drive documentation. Figure 6.32 Example Single Write Response Data File Figure 6.33 shows example ladder logic to correctly format the three possible data types for write messages of different parameter types in the PLC-5 controller. Figure 6.33 Example Ladder Logic to Format Parameter Data Types for Writes For 16-bit Integer Parameters All PowerFlex 7-Class Drives For 32-bit Integer Parameters All PowerFlex 7-Class Drives For 32-bit REAL (Floating Point) Parameters PowerFlex 700S and PowerFlex 750-Series Drives

157 Using Explicit Messaging 6-29 PLC-5 Controller Explanation of Request and Response Data for Read/Write Multiple Messaging The data structures in Figure 6.34 and Figure 6.35 use 16-bit words and can accommodate up to 22 parameters in a single message. In the Response Message, a parameter number with the high bit set indicates that the associated parameter value field contains an error code (parameter number in response data will be negative). Important: See Table 6.A on page 6-2 for limitations of PowerFlex 7-Class and PowerFlex 750-Series drives when using Class code 0x93 or Class code 0x9F for explicit messaging. Figure 6.34 Data Structures for Scattered Read Messages Request (Source Data) Response (Destination Data) Word 0 Parameter Number Word 0 Parameter Number 1 Pad Word 1 Parameter Value LSW 2 Pad Word 2 Parameter Value MSW 3 Parameter Number 3 Parameter Number 4 Pad Word 4 Parameter Value LSW 5 Pad Word 5 Parameter Value MSW 6 Parameter Number 6 Parameter Number 7 Pad Word 7 Parameter Value LSW 8 Pad Word 8 Parameter Value MSW 9 Parameter Number 9 Parameter Number 10 Pad Word 10 Parameter Value LSW 11 Pad Word 11 Parameter Value MSW 12 Parameter Number 12 Parameter Number 13 Pad Word 13 Parameter Value LSW 14 Pad Word 14 Parameter Value MSW Parameter Number 63 Parameter Number 64 Pad Word 64 Parameter Value LSW 65 Pad Word 65 Parameter Value MSW... Figure 6.35 Data Structures for Scattered Write Messages Request (Source Data) Response (Destination Data) Word 0 Parameter Number Word 0 Parameter Number 1 Parameter Value LSW 1 Pad Word 2 Parameter Value MSW 2 Pad Word 3 Parameter Number 3 Parameter Number 4 Parameter Value LSW 4 Pad Word 5 Parameter Value MSW 5 Pad Word 6 Parameter Number 6 Parameter Number 7 Parameter Value LSW 7 Pad Word 8 Parameter Value MSW 8 Pad Word 9 Parameter Number 9 Parameter Number 10 Parameter Value LSW 10 Pad Word 11 Parameter Value MSW 11 Pad Word 12 Parameter Number 12 Parameter Number 13 Parameter Value LSW 13 Pad Word 14 Parameter Value MSW 14 Pad Word Parameter Number 63 Parameter Number 64 Parameter Value LSW 64 Pad Word 65 Parameter Value MSW 65 Pad Word

158 6-30 Using Explicit Messaging PLC-5 Controller Example Ladder Logic Program to Read Multiple Parameters A Generic Bi-Directional scattered read message is used to read the values of multiple parameters. This read message example reads the values of these five parameters. PowerFlex 7-Class Drive Parameter [Output Freq] Parameter [Output Current] Parameter [Output Voltage] Parameter [DC Bus Voltage] Parameter [Analog In1 Value] PowerFlex 750-Series Drive Parameter [Output Freq] Parameter [Output Current] Parameter [Open Loop Fdbk] Parameter [Port 5: Analog Out 0 Data] Parameter [Analog In0 Value] See DPI Parameter Object on page C-16 (Class code 0x93) or Host DPI Parameter Object on page C-30 (Class code 0x9F) for parameter numbering. Important: See Table 6.A on page 6-2 for limitations of PowerFlex 7-Class and PowerFlex 750-Series drives when using DPI Parameter Object Class code 0x93 or Host DPI Parameter Object Class code 0x9F for explicit messaging. Figure 6.36 Example Ladder Logic to Read Multiple Parameters

159 Using Explicit Messaging 6-31 PLC-5 Controller Formatting a Message to Read Multiple Parameters Figure 6.37 Scattered Read Message Configuration Screens General Tab Example Value Description Communication Command Service Code Class Number Instance Number Attribute Number Snd Addr Snd Elems Rcv Addr The following table identifies the data that is required in each box to configure a message to read multiple parameters. Generic Bi-Directional 4b (Hex.) 93 or 9F (Hex.) (1) 0 (Hex.) N60:0 15 (2) N70:0 Command type for the controller to read multiple data from the drive. Code for the requested service. Class ID for the DPI Parameter Object. Required for scattered messages. Not used. An unused controller data table address containing the message instruction. This address is the starting word of the source file. Number of elements (words) to be transferred. Each element size is a 16-bit integer. An unused controller data table address containing the message instruction. This address is the starting word of the destination file. Number of elements (words) to be transferred. Each element size is a 16-bit integer. Rcv Elems 15 (2) MultiHop Tab Example Value Description To Address 2 The node address of the adapter connected to the drive. (1) See Table 6.A on page 6-2 for limitations of PowerFlex 7-Class and PowerFlex 750-Series drives when using DPI Parameter Object Class code 0x93 or Host DPI Parameter Object Class code 0x9F for explicit messaging. (2) In this example, we are reading five parameters. Each parameter being read requires three contiguous 16-bit words. Scattered read messages always assume that every parameter being read is a 32-bit integer, regardless of its actual data type. The data structure format is the same as shown on page Maximum length is 66 words, which equates to 22 parameters. For parameter numbering, see DPI Parameter Object on page C-16 (Class code 0x93) or Host DPI Parameter Object on page C-30 (Class code 0x9F).

160 6-32 Using Explicit Messaging PLC-5 Controller Example Scattered Read Request Data In this message example, we use the data table addresses in Figure 6.38 or Figure 6.39 to store the request values to be read from these drive parameters. PowerFlex 7-Class Drive Parameter [Output Freq] Parameter [Output Current] Parameter [Output Voltage] Parameter [DC Bus Voltage] Parameter [Analog In1 Value] PowerFlex 750-Series Drive Parameter [Output Freq] Parameter [Output Current] Parameter [Open Loop Fdbk] Parameter [Port 5: Analog Out 0 Data] Parameter [Analog In0 Value] See DPI Parameter Object on page C-16 (Class code 0x93) or Host DPI Parameter Object on page C-30 (Class code 0x9F) for parameter numbering. Figure 6.38 Example Scattered Read Request Data File for PowerFlex 7-Class Drive Figure 6.39 Example Scattered Read Request Data File for PowerFlex 750-Series Drive PLC-5 Controller Example Scattered Read Response Data In this message example, we use the data table addresses in Figure 6.40 to store the response values that were read from the requested drive parameters. Figure 6.40 Example Scattered Read Response Data File for PowerFlex 7-Class Drive

161 Using Explicit Messaging 6-33 In this example, the parameters have the following values. PowerFlex 7-Class Drive Parameter Address Read Value 1 - [Output Freq] N70: Hz 3 - [Output Current] N70: Amp 6 - [Output Voltage] N70: V AC 12 - [DC Bus Voltage] N70: V DC 17 - [Analog In2 Value] N70: ma Figure 6.41 Example Scattered Read Response Data File for PowerFlex 750-Series Drive The PowerFlex 750-Series drive uses 32-bit integer and REAL parameters. A COP command must be used to copy the N60 integer array to a 16-bit integer or floating tag. Figure 6.42 shows the ladder logic used for this example. If the parameter data type is a 32-bit integer, the data remains split into two 16-bit integers because there are no 32-bit integers in the PLC-5 controller. If the parameter data type is a REAL, then the destination tag is a floating point. In this case, the value must first be swapped with the high and low 16-bit integers, and then the two integers copied (COP) into a floating point address. See the drive documentation to determine the parameter data type (32-bit integer or REAL).

162 6-34 Using Explicit Messaging Figure 6.42 Example Ladder Logic to Copy Response Data for PowerFlex 750-Series Drive Parameter [Open Loop Fdbk] PowerFlex 750-Series Drives Parameter [Output Freq] In this message example, the parameters have the following values. PowerFlex 750-Series Drive Parameter Read Value Data Type 1 - [Output Freq] 45.0 Hz REAL 7 - [Output Current] 0.04 Amp REAL [Open Loop Fdbk] DINT [Port 5: Analog Out 0 Data] 45.0 Hz REAL [Analog In0 Value] Volts REAL

163 Using Explicit Messaging 6-35 PLC-5 Controller Example Ladder Logic Program to Write Multiple Parameters A Generic Bi-Directional scattered write message is used to write to multiple parameters. This write message example writes the following values to these five parameters. PowerFlex 7-Class Drive Parameter Write Value PowerFlex 750-Series Drive Parameter Write Value [Accel Time 2] 11.1 Sec [Accel Time 2] 11.1 Sec [Decel Time 2] 22.2 Sec [Decel Time 2] 22.2 Sec [Preset Speed 5] 33.3 Hz [Zero Position] [Preset Speed 6] 44.4 Hz [Port 5: Analog In0 Hi] [Preset Speed 7] 55.5 Hz [PTP Setpoint] -75,555 See DPI Parameter Object on page C-16 (Class code 0x93) or Host DPI Parameter Object on page C-30 (Class code 0x9F) for parameter numbering. Important: See Table 6.A on page 6-2 for limitations of PowerFlex 7-Class and PowerFlex 750-Series drives when using DPI Parameter Object Class code 0x93 or Host DPI Parameter Object Class code 0x9F for explicit messaging. Figure 6.43 Example Ladder Logic to Write Multiple Parameters Important: If the explicit message scattered write must be written continuously, then use a separate Generic Set service explicit message single write for each parameter using DPI Parameter Object Class code 0x93 or Host DPI Parameter Object Class code 0x9F and attribute A (see page 6-27). Attribute A writes to RAM not NVS (EEPROM) memory. This example scattered write message writes to NVS. Over time, continuous writes will exceed the EEPROM life cycle and cause the drive to malfunction.

164 6-36 Using Explicit Messaging PLC-5 Controller Formatting a Message to Write Multiple Parameters Figure 6.44 Scattered Write Multiple Message Configuration Screens General Tab Example Value Description Communication Command Service Code Class Number Instance Number Attribute Number Snd Addr Snd Elems Rcv Addr The following table identifies the data that is required in each box to configure a message to write multiple parameters. Generic Bi-Directional 4c (Hex.) 93 or 9F (Hex.) (1) 0 (Hex.) N80:0 15 (2) N90:0 Command type for the controller to write multiple data to the drive. Code for the requested service. Class ID for the DPI Parameter Object. Required for scattered messages. Not used. An unused controller data table address containing the message instruction. This address is the starting word of the source file. Number of elements (words) to be transferred. Each element size is a 16-bit integer. An unused controller data table address containing the message instruction. This address is the starting word of the destination file. Number of elements (words) to be transferred. Each element size is a 16-bit integer. Rcv Elems 15 (2) MultiHop Tab Example Value Description To Address 2 The node address of the adapter connected to the drive. (1) See Table 6.A on page 6-2 for limitations of PowerFlex 7-Class and PowerFlex 750-Series drives when using DPI Parameter Object Class code 0x93 or Host DPI Parameter Object Class code 0x9F for explicit messaging. (2) In this example, we are writing to five parameters. Each parameter being written to requires three contiguous 16-bit words. Scattered write messages always assume that every parameter being written to is a 32-bit integer, regardless of its actual data type. The data structure format is the same as shown on page Maximum length is 66 words, which equates to 22 parameters. For parameter numbering, see DPI Parameter Object on page C-16 (Class code 0x93) or Host DPI Parameter Object on page C-30 (Class code 0x9F).

165 Using Explicit Messaging 6-37 PowerFlex 7-Class Drive Parameter PLC-5 Controller Example Scattered Write Request Data In this message example, we use the data table addresses in Figure 6.45 or Figure 6.48 to store the request values to be written to these drive parameters. Address Write Value PowerFlex 750-Series Drive Parameter See DPI Parameter Object on page C-16 (Class code 0x93) or Host DPI Parameter Object on page C-30 (Class code 0x9F) for parameter numbering. Figure 6.45 or Figure 6.48 shows the parameter values. Write Value Data Type [Accel Time 2] N90: Sec [Accel Time 2] 11.1 Sec. REAL [Decel Time 2] N90: Sec [Decel Time 2] 22.2 Sec. REAL [Preset Speed 5] N90: Hz [Zero Position] bit integer [Preset Speed 6] N90: Hz [Port 5: Analog In0 Hi] 5.5 REAL [Preset Speed 7] N90: Hz [PTP Setpoint] -75, bit integer Figure 6.45 Example Scattered Write Request Data File for PowerFlex 7-Class Drive PLC-5 Controller Example Scattered Write Response Data In this message example, we use the data table addresses in Figure 6.46 to store the response values that were written to the requested drive parameters. Values of 0 indicate no errors occurred. Figure 6.46 Example Scattered Write Response Data File for PowerFlex 7-Class Drive The PowerFlex 750-Series drive uses 32-bit integer and REAL parameters. A COP command must be used to copy the 16-bit integer or REAL values to the N90 integer array. Figure 6.47 shows the ladder logic used for this example. If the parameter data type is a 32-bit integer, the data remains split into two 16-bit integers since there are no 32-bit integers in the PLC-5

166 6-38 Using Explicit Messaging controller. If the parameter data type is a REAL, the floating point value in the PLC-5 controller is copied (COP) to two 16-bit integers. Then the MSW (most significant word) and LSW (least significant word) must be swapped before moving (MOV) the values to the array to be written to. See the drive documentation to determine the parameter data type (32-bit integer or REAL). Figure 6.47 Example Ladder Logic to Copy Request Data for PowerFlex 750-Series Drive Parameter [PTP Setpoint] PowerFlex 750-Series Drives Parameter [Accel Time 2]

167 Using Explicit Messaging 6-39 Figure 6.48 Example Scattered Write Request Data File for PowerFlex 750-Series Drive The results of the explicit message appear in the destination tag array N80 (Figure 6.49). Values of 0 indicate no errors occurred. Figure 6.49 Example Scattered Write Response Data File for PowerFlex 750-Series Drive

168 6-40 Using Explicit Messaging SLC 500 Controller Examples The CIP messaging method provides two ways to perform explicit messaging: Read/Write Parameter Service simplifies setup by requiring less data to be entered in message configuration screens. However, the Read/Write Parameter Service can only be used to perform single parameter read or single parameter write explicit messages. (Multiple parameter reads or writes must be performed using the Generic Get/Set Attribute Service described below.) Important: When performing a Write Parameter message, the data will always be written to the drive s Nonvolatile Storage (NVS). Continuous NVS writes may damage the drive s EEPROM. If continuous writes are necessary, use the Generic Set Attribute Single Service and attribute 10 (see page 6-51). Generic Get/Set Attribute Service requires more setup data to be entered in message configuration screens, but can be used to perform single parameter read or write explicit messages or multiple parameter read or write explicit messages. Also, the Generic Set Attribute Service offers the choice of writing the data to the drive s Nonvolatile Storage (NVS) or the drive s Random Access Memory (RAM; for Generic Set Attribute Single service only, see page 6-51). Note that when selecting the data to be written to RAM, the data will be lost if the drive loses power. For supported classes, instances, and attributes, see Appendix C, ControlNet Objects. Block transfer or CEM (ControlNet Explicit Message) instructions can be used to perform explicit messaging. Since CEM instructions are easier to configure and perform more efficiently, they are used for these examples. Important: RSLogix 500 software, version 7.10 or later, and a SLC 5/03, SLC 5/04, or SLC 5/05 controller, Series C with firmware version or later, are required to use CEM instructions.

169 Using Explicit Messaging 6-41 SLC 500 Controller Explicit Messaging Using the Read/Write Parameter Service SLC 500 Controller Example Ladder Logic Program to Read a Single Parameter A Read Parameter message is used to read a single parameter. This read message example reads the value of parameter [Output Current] in a PowerFlex 7-Class drive. Important: Parameter Object Class code 0x0F is not supported in PowerFlex 750-Series drives. To do a single parameter read, follow the SLC 500 (Generic Attribute Service) single read example on page Figure 6.50 Example Ladder Logic to Read a Single Parameter

170 6-42 Using Explicit Messaging SLC 500 Controller Formatting a Message to Read a Single Parameter Using Read/Write Parameter Service Figure 6.51 Read Parameter Message Configuration Screen The following table identifies the data that is required in each box to configure a message to read a single parameter. General Tab Example Value Description 1747-SCNR Slot Size in Words (Receive Data) Data Table Address (Receive Data) Message Timeout ControlNet Addr Service (1) Instance (2) 1 2 (3) N40: Read Parameter 3 (Dec.) The chassis slot occupied by the scanner. Number of words to be received (read). Each word size is a 16-bit integer. An unused controller data table address containing the message instruction. This address is the starting word of the destination file. The time (in milliseconds) that the message must be completed. The node address of the adapter connected to the drive. Code for the requested service. Instance number is the same as the parameter number. (1) The default setting for Service is Custom, enabling entry of a Service Code not available from the Service pull-down menu. When choosing a Service other than Custom from the pull-down menu, an appropriate Hex. value is automatically assigned to the Service Code box which is dimmed (unavailable). (2) Only drive parameters (Port 0) can be read using Parameter Object Class code 0x0F. To read a parameter of a peripheral in another port, use DPI Parameter Object Class code 0x93 (see page 6-47). (3) In this example, Output Current is a 32-bit integer parameter requiring the Size in Words field to be set to 2. If the parameter being read is a 16-bit integer, the Size in Words must be set to 1. When using a PowerFlex 700S or PowerFlex 750-Series drive, Output Current is a floating point number requiring the Size in Words to be set to 2. See the drive documentation to determine the size of the parameter and its data type (16-bit or 32-bit integer or REAL).

171 Using Explicit Messaging 6-43 SLC 500 Controller Example Read Single Response Data In this message example, we use the data table address in Figure 6.52 to store the response value (0.13 amps) that was read from drive parameter [Output Current]. To determine the data type for the parameter and its required scaling, see the specific drive documentation. Figure 6.52 Example Read Single Response Data File Figure 6.53 shows example ladder logic to correctly format the three possible data types for read messages of different parameter types in the SLC 500 controller. Figure 6.53 Example Ladder Logic to Format Parameter Data Types for Reads For 16-bit Integer Parameters All PowerFlex 7-Class Drives For 32-bit Integer Parameters All PowerFlex 7-Class Drives For 32-bit REAL (Floating Point) Parameters PowerFlex 700S and PowerFlex 750-Series Drives

172 6-44 Using Explicit Messaging SLC 500 Controller Example Ladder Logic Program to Write a Single Parameter Using Read/Write Parameter Service A Write Parameter message is used to write to a single parameter. This write message example writes a value to parameter [Accel Time 1] in a PowerFlex 7-Class drive. Important: Parameter Object Class code 0x0F is not supported in PowerFlex 750-Series drives. To do a single parameter write, follow the SLC 500 (Generic Attribute Service) single write example on page Figure 6.54 Example Ladder Logic to Write a Single Parameter Important: If the explicit message single write must be written continuously, use the Generic Set Attribute Single service and attribute A (10 decimal; see page 6-51). This writes to RAM not NVS (EEPROM) memory. This example single write message using Class code F writes to NVS. Over time, continuous writes will exceed the EEPROM life cycle and cause the drive to malfunction.

173 Using Explicit Messaging 6-45 SLC 500 Controller Formatting a Message to Write a Single Parameter Using Read/Write Parameter Service Figure 6.55 Write Parameter Message Configuration Screen The following table identifies the data that is required in each box to configure a message to write a single parameter. General Tab Example Value Description 1747-SCNR Slot Size in Words (Send Data) Data Table Address (Send Data) Message Timeout ControlNet Addr Service (1) Instance (2) 1 1 (3) N50: Write Parameter 140 (Dec.) The chassis slot occupied by the scanner. Number of words to be sent (written). Each word size is a 16-bit integer. An unused controller data table address containing the message instruction. This address is the starting word of the source file. The time (in milliseconds) that the message must be completed. The node address of the adapter connected to the drive. Code for the requested service. Instance number is the same as the parameter number. (1) The default setting for Service is Custom, enabling entry of a Service Code not available from the Service pull-down menu. When choosing a Service other than Custom from the pull-down menu, an appropriate Hex. value is automatically assigned to the Service Code box which is dimmed (unavailable). (2) Only drive parameters (Port 0) can be written to using Parameter Object Class code 0x0F. To write to a parameter of a peripheral in another port, use DPI Parameter Object Class code 0x93 (see page 6-54). (3) In this example, Accel Time 1 is a 16-bit integer parameter requiring the Size in Words field to be set to 1. If the parameter being written to is a 32-bit integer, the Size in Words must be set to 2. When using a PowerFlex 700S or PowerFlex 750-Series drive, Accel Time 1 is a floating point number requiring the Size in Words to be set to 2. See the drive documentation to determine the size of the parameter and its data type (16-bit or 32-bit integer or REAL).

174 6-46 Using Explicit Messaging SLC 500 Controller Example Write Single Request Data In this message example, we use the data table address in Figure 6.56 to store the request value (10.0 sec.) that was written to drive parameter [Accel Time 1]. To determine the data type for the parameter and its required scaling, see the specific drive documentation. Figure 6.56 Example Write Single Request Data File Figure 6.57 shows example ladder logic to correctly format the three possible data types for write messages of different parameter types in the SLC 500 controller. Figure 6.57 Example Ladder Logic to Format Parameter Data Types for Writes For 16-bit Integer Parameters All PowerFlex 7-Class Drives For 32-bit Integer Parameters All PowerFlex 7-Class Drives For 32-bit REAL (Floating Point) Parameters PowerFlex 700S and PowerFlex 750-Series Drives

175 Using Explicit Messaging 6-47 SLC 500 Controller Explicit Messaging Using the Generic Get/Set Attribute Service SLC 500 Controller Example Ladder Logic Program to Read a Single Parameter A Generic Get Attribute Single message is used to read a single parameter. This read message example reads the value of parameter [Output Current] in a PowerFlex 7-Class drive. Important: See Table 6.A on page 6-2 for limitations of PowerFlex 7-Class and PowerFlex 750-Series drives when using DPI Parameter Object Class code 0x93 or Host DPI Parameter Object Class code 0x9F for explicit messaging. Figure 6.58 Example Ladder Logic to Read a Single Parameter

176 6-48 Using Explicit Messaging SLC 500 Controller Formatting a Message to Read a Single Parameter Using Generic Get/Set Attribute Service Figure 6.59 Generic Get Attribute Single Message Configuration Screen The following table identifies the data that is required in each box to configure a message to read a single parameter. General Tab Example Value Description 1747-SCNR Slot Size in Words (Receive Data) Data Table Address (Receive Data) Message Timeout ControlNet Addr Service (1) Class Instance (2) Attribute 1 2 (3) N40: Generic Get Attribute Single 93 or 9F (Hex.) (4) 3 (Dec.) 9 (Dec.) The chassis slot occupied by the scanner. Number of words to be received (read). Each word size is a 16-bit integer. An unused controller data table address containing the message instruction. This address is the starting word of the destination file. The time (in milliseconds) that the message must be completed. The node address of the adapter connected to the drive. Code for the requested service. Class ID for the DPI Parameter Object. Instance number is the same as the parameter number. Attribute number for the Parameter Value attribute. (1) The default setting for Service is Custom, enabling entry of a Service Code not available from the Service pull-down menu. When choosing a Service other than Custom from the pull-down menu, an appropriate Hex. value is automatically assigned to the Service Code box which is dimmed (unavailable). (2) The instance is the parameter number in the drive (Port 0). To read a parameter in another port, see DPI Parameter Object on page C-16 (Class code 0x93) or Host DPI Parameter Object on page C-30 (Class code 0x9F) to determine the instance number. For example, to read parameter 4 of a peripheral in Port 5 of a PowerFlex 750-Series drive, the instance would be = or 5404 (Hex). (3) In this example, Output Current is a 32-bit integer parameter requiring the Size in Words field to be set to 2. If the parameter being read is a 16-bit integer, the Size in Words must be set to 1. When using a PowerFlex 700S or PowerFlex 750-Series drive, Output Current is a floating point number requiring the Size in Words to be set to 2. See the drive documentation to determine the size of the parameter and its data type (16-bit or 32-bit integer or REAL). The following page shows ladder logic to convert the data into a floating point. (4) See Table 6.A on page 6-2 for limitations of PowerFlex 7-Class and PowerFlex 750-Series drives when using DPI Parameter Object Class code 0x93 or Host DPI Parameter Object Class code 0x9F for explicit messaging.

177 Using Explicit Messaging 6-49 SLC 500 Controller Example Get Attribute Single Response Data In this message example, we use the data table address in Figure 6.60 to store the response value (0.13 amps) that was read from drive parameter [Output Current]. To determine the data type for the parameter and its required scaling, see the specific drive documentation. Figure 6.60 Example Get Attribute Single Response Data File Figure 6.61 shows example ladder logic to correctly format the three possible data types for get messages of different parameter types in the SLC 500 controller. Figure 6.61 Example Ladder Logic to Format Parameter Data Types for Gets For 16-bit Integer Parameters All PowerFlex 7-Class Drives For 32-bit Integer Parameters All PowerFlex 7-Class Drives For 32-bit REAL (Floating Point) Parameters PowerFlex 700S and PowerFlex 750-Series Drives

178 6-50 Using Explicit Messaging SLC 500 Controller Example Ladder Logic Program to Write a Single Parameter Using Generic Get/Set Attribute Service A Generic Set Attribute Single message is used to write to a single parameter. This write message example writes a value to parameter [Accel Time 1] in a PowerFlex 7-Class drive. Important: See Table 6.A on page 6-2 for limitations of PowerFlex 7-Class and PowerFlex 750-Series drives when using DPI Parameter Object Class code 0x93 or Host DPI Parameter Object Class code 0x9F for explicit messaging. Figure 6.62 Example Ladder Logic to Write a Single Parameter

179 Using Explicit Messaging 6-51 SLC 500 Controller Formatting a Message to Write a Single Parameter Using Generic Get/Set Attribute Service Figure 6.63 Generic Set Attribute Single Message Configuration Screen The following table identifies the data that is required in each box to configure a message to write a single parameter. General Tab Example Value Description 1747-SCNR Slot Size in Words (Send Data) Data Table Address (Send Data) Message Timeout ControlNet Addr Service (1) Class Instance (2) Attribute (3) 1 1 (4) N50: Generic Set Attribute Single 93 or 9F (Hex.) (5) 140 (Dec.) 9 or 10 (Dec.) The chassis slot occupied by the scanner. Number of words to be sent (written). Each word size is a 16-bit integer. An unused controller data table address containing the message instruction. This address is the starting word of the source file. The time (in milliseconds) that the message must be completed. The node address of the adapter connected to the drive. Code for the requested service. Class ID for the DPI Parameter Object. Instance number is the same as the parameter number. Attribute number for the Parameter Value attribute. (1) The default setting for Service is Custom, enabling entry of a Service Code not available from the Service pull-down menu. When choosing a Service other than Custom from the pull-down menu, an appropriate Hex. value is automatically assigned to the Service Code box which is dimmed (unavailable). (2) The instance is the parameter number in the drive (Port 0). To write to a parameter in another port, see DPI Parameter Object on page C-16 (Class code 0x93) or Host DPI Parameter Object on page C-30 (Class code 0x9F) to determine the instance number. For example, to write to parameter 51 of a peripheral in Port 5 of a PowerFlex 750-Series drive, the instance would be = or 5433 (Hex). (3) Setting the Attribute value to 9 will write the parameter value to the drive s Nonvolatile Storage (EEPROM) memory, which retains the parameter value even after the drive is power cycled. Important: When set to 9, the EEPROM may quickly exceed its life cycle and cause the drive to malfunction. Setting the Attribute value to A (10 decimal) will write the parameter value to temporary memory, which deletes the parameter value after the drive is power cycled. When frequent write messages are required, we recommend using the A (10 decimal) setting. (4) In this example, Accel Time 1 is a 16-bit integer parameter requiring the Size in Words field to be set to 1. If the parameter being written to is a 32-bit integer, the Size in Words must be set to 2. When using a PowerFlex 700S or PowerFlex 750-Series drive, Accel Time 1 is a floating point number requiring the Size in Words to be set to 2. See the drive documentation to determine the size of the parameter and its data type (16-bit or 32-bit integer or REAL). The following page shows ladder logic to convert floating point data into integer files. (5) See Table 6.A on page 6-2 for limitations of PowerFlex 7-Class and PowerFlex 750-Series drives when using DPI Parameter Object Class code 0x93 or Host DPI Parameter Object Class code 0x9F for explicit messaging.

180 6-52 Using Explicit Messaging SLC 500 Controller Example Set Attribute Single Request Data In this message example, we use the data table address in Figure 6.64 to store the request value (10.0 sec.) that was written to drive parameter [Accel Time 1]. To determine the data type for the parameter and its required scaling, see the specific drive documentation. Figure 6.64 Example Set Attribute Single Request Data File Figure 6.65 shows example ladder logic to correctly format the three possible data types for set messages of different parameter types in the SLC 500 controller. Figure 6.65 Example Ladder Logic to Format Parameter Data Types for Sets For 16-bit Integer Parameters All PowerFlex 7-Class Drives For 32-bit Integer Parameters All PowerFlex 7-Class Drives For 32-bit REAL (Floating Point) Parameters PowerFlex 700S and PowerFlex 750-Series Drives

181 Using Explicit Messaging 6-53 SLC 500 Controller Explanation of Request and Response Data for Read/Write Multiple Messaging The data structures in Figure 6.66 and Figure 6.67 use 16-bit words and can accommodate up to 22 parameters in a single message. In the Response Message, a parameter number with the high bit set indicates that the associated parameter value field contains an error code (parameter number in response data will be negative). Important: See Table 6.A on page 6-2 for limitations of PowerFlex 7-Class and PowerFlex 750-Series drives when using Class code 0x93 or Class code 0x9F for explicit messaging. Figure 6.66 Data Structures for Scattered Read Messages Request (Source Data) Response (Destination Data) Word 0 Parameter Number Word 0 Parameter Number 1 Pad Word 1 Parameter Value LSW 2 Pad Word 2 Parameter Value MSW 3 Parameter Number 3 Parameter Number 4 Pad Word 4 Parameter Value LSW 5 Pad Word 5 Parameter Value MSW 6 Parameter Number 6 Parameter Number 7 Pad Word 7 Parameter Value LSW 8 Pad Word 8 Parameter Value MSW 9 Parameter Number 9 Parameter Number 10 Pad Word 10 Parameter Value LSW 11 Pad Word 11 Parameter Value MSW 12 Parameter Number 12 Parameter Number 13 Pad Word 13 Parameter Value LSW 14 Pad Word 14 Parameter Value MSW Parameter Number 63 Parameter Number 64 Pad Word 64 Parameter Value LSW 65 Pad Word 65 Parameter Value MSW... Figure 6.67 Data Structures for Scattered Write Messages Request (Source Data) Response (Destination Data) Word 0 Parameter Number Word 0 Parameter Number 1 Parameter Value LSW 1 Pad Word 2 Parameter Value MSW 2 Pad Word 3 Parameter Number 3 Parameter Number 4 Parameter Value LSW 4 Pad Word 5 Parameter Value MSW 5 Pad Word 6 Parameter Number 6 Parameter Number 7 Parameter Value LSW 7 Pad Word 8 Parameter Value MSW 8 Pad Word 9 Parameter Number 9 Parameter Number 10 Parameter Value LSW 10 Pad Word 11 Parameter Value MSW 11 Pad Word 12 Parameter Number 12 Parameter Number 13 Parameter Value LSW 13 Pad Word 14 Parameter Value MSW 14 Pad Word Parameter Number 63 Parameter Number 64 Parameter Value LSW 64 Pad Word 65 Parameter Value MSW 65 Pad Word

182 6-54 Using Explicit Messaging SLC 500 Controller Explicit Messaging Using the Generic Get/Set Attribute Service SLC 500 Controller Example Ladder Logic Program to Read Multiple Parameters A Custom scattered read message is used to read the values of multiple parameters. This read message example reads the values of these five parameters. PowerFlex 7-Class Drive Parameter [Output Freq] Parameter [Output Current] Parameter [Output Voltage] Parameter [DC Bus Voltage] Parameter [Analog In1 Value] PowerFlex 750-Series Drive Parameter [Output Freq] Parameter [Output Current] Parameter [Open Loop Fdbk] Parameter [Port 5: Analog Out 0 Data] Parameter [Analog In0 Value] See DPI Parameter Object on page C-16 (Class code 0x93) or Host DPI Parameter Object on page C-30 (Class code 0x9F) for parameter numbering. Important: See Table 6.A on page 6-2 for limitations of PowerFlex 7-Class and PowerFlex 750-Series drives when using DPI Parameter Object Class code 0x93 or Host DPI Parameter Object Class code 0x9F for explicit messaging. Figure 6.68 Example Ladder Logic to Read Multiple Parameters

183 Using Explicit Messaging 6-55 SLC 500 Controller Formatting a Message to Read Multiple Parameters Using Generic Get/Set Attribute Service Figure 6.69 Custom Scattered Read Message Configuration Screen The following table identifies the data that is required in each box to configure a message to read multiple parameters. General Tab Example Value Description 1747-SCNR Slot Size in Words (Receive Data) Size in Words (Send Data) Data Table Address (Receive Data) Data Table Address (Send Data) Message Timeout ControlNet Addr Service (1) Service Code Class Instance Attribute 1 15 (2) 15 (2) N70:0 N60: Custom 4B (Hex.) 93 or 9F (Hex.) (3) 0 (Dec.) 0 (Dec.) The chassis slot occupied by the scanner. Number of words to be received (read). Each word size is a 16-bit integer. Number of words to be sent. Each word size is a 16-bit integer. An unused controller data table address containing the message instruction. This address is the starting word of the destination file. An unused controller data table address containing the message instruction. This address is the starting word of the source file. The time (in milliseconds) that the message must be completed. The node address of the adapter connected to the drive. Required for scattered messages. Code for the requested service. Class ID for the DPI Parameter Object. Required for scattered messages. Required for scattered messages. (1) The default setting for Service is Custom, enabling entry of a Service Code not available from the Service pull-down menu. When choosing a Service other than Custom from the pull-down menu, an appropriate Hex. value is automatically assigned to the Service Code box which is dimmed (unavailable). (2) In this example, we are reading five parameters. Each parameter being read requires three contiguous 16-bit words. Scattered read messages always assume that every parameter being read is a 32-bit integer, regardless of its actual data type. The data structure format is the same as shown on page Maximum length is 66 words, which equates to 22 parameters. For parameter numbering, see DPI Parameter Object on page C-16 (Class code 0x93) or Host DPI Parameter Object on page C-30 (Class code 0x9F). (3) See Table 6.A on page 6-2 for limitations of PowerFlex 7-Class and PowerFlex 750-Series drives when using DPI Parameter Object Class code 0x93 or Host DPI Parameter Object Class code 0x9F for explicit messaging.

184 6-56 Using Explicit Messaging SLC 500 Controller Example Scattered Read Request Data In this message example, we use the data table addresses in Figure 6.70 or Figure 6.71 to store the request values to be read from these drive parameters. PowerFlex 7-Class Drive Parameter [Output Freq] Parameter [Output Current] Parameter [Output Voltage] Parameter [DC Bus Voltage] Parameter [Analog In1 Value] PowerFlex 750-Series Drive Parameter [Output Freq] Parameter [Output Current] Parameter [Open Loop Fdbk] Parameter [Port 5: Analog Out 0 Data] Parameter [Analog In0 Value] See DPI Parameter Object on page C-16 (Class code 0x93) or Host DPI Parameter Object on page C-30 (Class code 0x9F) for parameter numbering. Figure 6.70 Example Scattered Read Request Data File for PowerFlex 7-Class Drive Figure 6.71 Example Scattered Read Request Data File for PowerFlex 750-Series Drive SLC 500 Controller Example Scattered Read Response Data In this message example, we use the data table addresses in Figure 6.72 to store the response values that were read from the requested drive parameters. Figure 6.72 Example Scattered Read Response Data File for PowerFlex 7-Class Drive

185 Using Explicit Messaging 6-57 In this example, the parameters have the following values. PowerFlex 7-Class Drive Parameter Address Read Value 1 - [Output Freq] N70: Hz 3 - [Output Current] N70: Amp 6 - [Output Voltage] N70: V AC 12 - [DC Bus Voltage] N70: V DC 17 - [Analog In2 Value] N70: ma Figure 6.73 Example Scattered Read Response Data File for PowerFlex 750-Series Drive The PowerFlex 750-Series drive uses 32-bit integer and REAL parameters. A COP command must be used to copy the N60 integer array to a 16-bit integer or floating tag. Figure 6.74 shows the ladder logic used for this example. If the parameter data type is a 32-bit integer, the data remains split into two 16-bit integers because there are no 32-bit integers in the SLC 500 controller. If the parameter data type is a REAL, then the destination tag is a floating point. In this case, the value must first be swapped with the high and low 16-bit integers, and then the two integers copied (COP) into a floating point address. See the drive documentation to determine the parameter data type (32-bit integer or REAL).

186 6-58 Using Explicit Messaging Figure 6.74 Example Ladder Logic to Copy Response Data for PowerFlex 750-Series Drive Parameter [Open Loop Fdbk] PowerFlex 750-Series Drives Parameter [Output Freq] In this message example, the parameters have the following values. PowerFlex 750-Series Drive Parameter Read Value Data Type 1 - [Output Freq] 45.0 Hz REAL 7 - [Output Current] 0.04 Amp REAL [Open Loop Fdbk] DINT [Port 5: Analog Out 0 Data] 45.0 Hz REAL [Analog In0 Value] Volts REAL

187 Using Explicit Messaging 6-59 SLC 500 Controller Example Ladder Logic Program to Write Multiple Parameters Using Generic Get/Set Attribute Service A Custom scattered write message is used to write to multiple parameters. This write message example writes the following values to these five parameters. PowerFlex 7-Class Drive Parameter Write Value PowerFlex 750-Series Drive Parameter Write Value [Accel Time 2] 11.1 Sec [Accel Time 2] 11.1 Sec [Decel Time 2] 22.2 Sec [Decel Time 2] 22.2 Sec [Preset Speed 5] 33.3 Hz [Zero Position] [Preset Speed 6] 44.4 Hz [Port 5: Analog In0 Hi] [Preset Speed 7] 55.5 Hz [PTP Setpoint] -75,555 See DPI Parameter Object on page C-16 (Class code 0x93) or Host DPI Parameter Object on page C-30 (Class code 0x9F) for parameter numbering. Important: See Table 6.A on page 6-2 for limitations of PowerFlex 7-Class and PowerFlex 750-Series drives when using DPI Parameter Object Class code 0x93 or Host DPI Parameter Object Class code 0x9F for explicit messaging. Figure 6.75 Example Ladder Logic to Write Multiple Parameters Important: If the explicit message scattered write must be written continuously, then use a separate Generic Set service explicit message single write for each parameter using DPI Parameter Object Class code 0x93 or Host DPI Parameter Object Class code 0x9F and attribute A (10 decimal; see page 6-51). Attribute A writes to RAM not NVS (EEPROM) memory. This example scattered write message using attribute 0 writes to NVS. Over time, continuous writes will exceed the EEPROM life cycle and cause the drive to malfunction.

188 6-60 Using Explicit Messaging SLC 500 Controller Formatting a Message to Write Multiple Parameters Using Generic Get/Set Attribute Service Figure 6.76 Custom Scattered Write Multiple Message Configuration Screen The following table identifies the data that is required in each box to configure a message to write multiple parameters. General Tab Example Value Description 1747-SCNR Slot Size in Words (Receive Data) Size in Words (Send Data) Data Table Address (Receive Data) Data Table Address (Send Data) Message Timeout ControlNet Addr Service (1) Service Code Class Instance Attribute 1 15 (2) 15 (2) N90:0 N80: Custom 4C (Hex.) 93 or 9F (Hex.) (3) 0 (Dec.) 0 (Dec.) The chassis slot occupied by the scanner. Number of words to be received. Each word size is a 16-bit integer. Number of words to be sent (written). Each word size is a 16-bit integer. An unused controller data table address containing the message instruction. This address is the starting word of the destination file. An unused controller data table address containing the message instruction. This address is the starting word of the source file. The time (in milliseconds) that the message must be completed. The node address of the adapter connected to the drive. Required for scattered messages. Code for the requested service. Class ID for the DPI Parameter Object. Required for scattered messages. Required for scattered messages. (1) The default setting for Service is Custom, enabling entry of a Service Code not available from the Service pull-down menu. When choosing a Service other than Custom from the pull-down menu, an appropriate Hex. value is automatically assigned to the Service Code box which is dimmed (unavailable). (2) In this example, we are writing to five parameters. Each parameter being written to requires three contiguous 16-bit words. Scattered write messages always assume that every parameter being written to is a 32-bit integer, regardless of its actual data type. The data structure format is the same as shown on page Maximum length is 66 words, which equates to 22 parameters. For parameter numbering, see DPI Parameter Object on page C-16 (Class code 0x93) or Host DPI Parameter Object on page C-30 (Class code 0x9F). (3) See Table 6.A on page 6-2 for limitations of PowerFlex 7-Class and PowerFlex 750-Series drives when using DPI Parameter Object Class code 0x93 or Host DPI Parameter Object Class code 0x9F for explicit messaging.

189 Using Explicit Messaging 6-61 PowerFlex 7-Class Drive Parameter SLC 500 Controller Example Scattered Write Request Data In this message example, we use the data table addresses in Figure 6.77 or Figure 6.80 to store the request values to be written to these drive parameters. Address Write Value PowerFlex 750-Series Drive Parameter See DPI Parameter Object on page C-16 (Class code 0x93) or Host DPI Parameter Object on page C-30 (Class code 0x9F) for parameter numbering. Figure 6.77 or Figure 6.80 shows the parameter values. Write Value Data Type [Accel Time 2] N90: Sec [Accel Time 2] 11.1 Sec. REAL [Decel Time 2] N90: Sec [Decel Time 2] 22.2 Sec. REAL [Preset Speed 5] N90: Hz [Zero Position] bit integer [Preset Speed 6] N90: Hz [Port 5: Analog In0 Hi] 5.5 REAL [Preset Speed 7] N90: Hz [PTP Setpoint] -75, bit integer Figure 6.77 Example Scattered Write Request Data File for PowerFlex 7-Class Drive SLC 500 Controller Example Scattered Write Response Data In this message example, we use the data table addresses in Figure 6.78 to store the response values that were written to the requested drive parameters. Values of 0 indicate no errors occurred. Figure 6.78 Example Scattered Write Response Data File for PowerFlex 7-Class Drive The PowerFlex 750-Series drive uses 32-bit integer and REAL parameters. A COP command must be used to copy the 16-bit integer or REAL values to the N90 integer array. Figure 6.79 shows the ladder logic used for this example. If the parameter data type is a 32-bit integer, the data remains split into two 16-bit integers since there are no 32-bit integers in the SLC 500

190 6-62 Using Explicit Messaging controller. If the parameter data type is a REAL, the floating point value in the SLC 500 controller is copied (COP) to two 16-bit integers. Then the MSW (most significant word) and LSW (least significant word) must be swapped before moving (MOV) the values to the array to be written to. See the drive documentation to determine the parameter data type (32-bit integer or REAL). Figure 6.79 Example Ladder Logic to Copy Request Data for PowerFlex 750-Series Drive Parameter [PTP Setpoint] PowerFlex 750-Series Drives Parameter [Accel Time 2]

191 Using Explicit Messaging 6-63 Figure 6.80 Example Scattered Write Request Data File for PowerFlex 750-Series Drive The results of the explicit message appear in the destination tag array N80 (Figure 6.81). Values of 0 indicate no errors occurred. Figure 6.81 Example Scattered Write Response Data File for PowerFlex 750-Series Drive